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基于柔性光波导的水下本体感知软体执行器

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水下软体执行器在水下生物采样、文物打捞等作业任务中发挥着重要作用，但其本体感知能力不足。传统的水下感知模块存在易受环境温度影响、抗干扰能力弱、体积大和硬度大等缺点，不适用于软体执行器。为了解决这个问题，本文基于一种对温度和电磁干扰不敏感、响应速度较快、线性度较高的柔性光波导传感器来实现一种波纹管结构软体执行器的本体感知功能。首先，在实验室浅水环境中测试了软体执行器检测物体基本物理属性(表面纹理和硬度)的能力;其次，在实验室模拟静水高压环境中(0～30MPa)初步验证该软体执行器在水下3000m典型作业场景应用的可行性。实验结果证明:在浅水环境中，软体执行器可在驱动压力40kPa下感知幅值为1 mm的锯齿波纹表面;当驱动压力大于30kPa时，软体执行器可以明显辨别出本体弯曲状态以及3种不同硬度的物体;在静水压0～30MPa下，柔性光波导传感器可以很好地表征软体执行器的不同弯曲状态;当水压增大时，传感器的迟滞性增大，灵敏度降低。以上实验结果表明基于柔性光波导的本体感知软体执行器具备水下原位感知的功能，且在等效水下3000 m作业范围内仍具有较好的感知性能。
An Underwater Proprioceptive Soft Actuator Based on the Flexible Optical Waveguide
Underwater soft actuators play an important role in underwater biological sampling,cultural relics salvage and other operational tasks,but their proprioceptive ability is insufficient.One reason is that traditional underwater sensing modules are unsuitable for soft actuators,and are susceptible to ambient temperature,with poor anti-interference ability,large volume,and large hardness.In order to solve this problem,a proprioceptive function of a bellow-structured soft actuator is developed based on a flexible optical waveguide sensor,which is insensitive to temperature and electromagnetic interference and is of a fast response speed and high linearity.Firstly,the soft actuator's ability to detect basic physical properties of objects(surface texture and hardness)is tested in the laboratory shallow water environment.Secondly,the application feasibility of the soft actuator in typical operation scenarios of 3000 m underwater is preliminarily verified in a laboratory simulated static water high-pressure environment(0～30 MPa).The experimental results show that:the soft actuator can sense the sawtooth-corrugated surface with an amplitude of 1 mm at a driving pressure of 40 kPa in the shallow water environment;when the driving pressure is greater than 30 kPa,the soft actuator can clearly distinguish the bending state of the body and three objects with different hardness;under the hydrostatic pressure 0～30 MPa,the flexible optical waveguide sensor can well characterize the soft actuator's different bending states;when the water pressure rises,the hysteresis of the sensor increases,and the sensitivity decreases.The above experimental results show that the proprioceptive soft actuator based on the flexible optical waveguide has the function of underwater in-situ perception,and still has good perception performance in the equivalent underwater 3000 m operating range.

flexible optical waveguide sensorflexible sensorproprioceptive soft actuatorunderwater soft robotin-situ perception

莫礼燕、张道辉、傅昕、赵新刚

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中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳 110016

中国科学院机器人与智能制造创新研究院,辽宁沈阳 100169

中国科学院大学,北京 100049

柔性光波导传感器 柔性传感器 本体感知软体执行器 水下软体机器人 原位感知

国家自然科学基金国家自然科学基金国家自然科学基金国家重点研发计划国家重点研发计划

6227333692048302U20A201972022YFF12025002022YFF1202502

2024

10.13973/j.cnki.robot.230027

机器人
中国自动化学会　中国科学院沈阳自动化研究所

机器人

CSTPCD北大核心
影响因子：1.134
ISSN：1002-0446
年,卷(期)：2024.46(2)
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