Robotic arm external interference stress monitoring system based on multi-FBG combined sensing
In order to solve the problem of assembly position deviation caused by external stress interference during the working process of the robotic arm,a monitoring system based on a combination of multiple fiber optic grating sensors is designed in this paper.Based on the range of motion angles of the robotic arm,the stress field distribution characteris-tics of the outer and inner robotic arms are simulated and analyzed after applying stress in different directions at two characteristic positions.Based on the distribution characteristics of the stress field,a multi-FBG sensing array is de-signed,and the corresponding relationship between different FBG responses and external interference stresses is calculat-ed.The experiment used 16 FBGs for online monitoring of the gripping process of the FS-MP1C small machinery,with a random external interference stress set to 2～20 N.The response linearity of 16FBGs is above 0.99,with maximum posi-tive and negative wavelength responses of 1354 pm and-984 pm,respectively.In 100 layered interference tests,the de-tection rate of X-axis and Y-axis interference stress is better than 80.0％,and the detection rate of Z-axis interference stress is better than 97.5％.The average false detection rate of the system is less than 4.0％.It can be seen that this design can achieve real-time monitoring of external interference stress online,which has certain practical value.
fiber Bragg gratinginterference monitoringcombination sensingrobot arm control
万方数据
维普
