【摘要】：針對(duì)機(jī)械手指柔性觸滑覺傳感問題,提出了一種基于光纖光柵的二維分布式傳感陣列的觸滑覺傳感方法,該方法采用兩根平行放置和一根傾斜放置的光纖光柵傳感器組成傳感單元,利用彈性材料封裝增強(qiáng)光纖光柵對(duì)壓力的靈敏度,并以單元陣列的方式實(shí)現(xiàn)對(duì)觸覺三維力、滑動(dòng)方向以及滑移位置的感知。仿真和實(shí)驗(yàn)結(jié)果表明,該方法可以很好地實(shí)現(xiàn)對(duì)觸覺正向壓力和剪切力的傳感,其中正向壓力在0~3.691 9×103Pa的范圍內(nèi)靈敏度為Kp=0.194 pm/Pa,x正向剪切力在0~1.115×103Pa的范圍內(nèi)靈敏度為Kpt=0.03 pm/Pa。通過對(duì)傳感陣列中不同光柵中心波長(zhǎng)漂移的上升沿和峰值時(shí)間差實(shí)現(xiàn)對(duì)物體x軸的滑移方向的判斷。該方法可以很好地實(shí)現(xiàn)對(duì)機(jī)械手指觸滑覺信息的測(cè)量,具有一定的應(yīng)用價(jià)值。
[Abstract]:In order to solve the problem of flexible tactile sensing of manipulator, a two-dimensional distributed sensing array based on fiber grating (FBG) is proposed. In this method, two parallel fiber grating sensors and one inclined fiber grating sensor are used to form a sensing unit. Elastic material packaging is used to enhance the sensitivity of fiber gratings to pressure, and the tactile three-dimensional force is realized by unit array. The perception of sliding direction and slip position. The simulation and experimental results show that the method can be used to sense the tactile forward pressure and shear force, and the sensitivity of the forward pressure is Kp=0.194 pm/Pa, in the range of 0 鈮，

本文編號(hào)：2496655