摘要
提出一种基于光纤布拉格光栅(fiber Bragg grating,FBG)的新型指尖三维力触觉传感器,并将其应用于裂缝检测。该传感器采用四个FBG,结合凹槽和细梁结构,优化了对轴向力和横向力的测量灵敏度,同时简化了解耦过程。通过力学仿真,分析传感器在不同力作用下的形变特性,并构建三维力感知模型。实验结果表明,传感器在X,Y和Z三个方向的灵敏度分别为1680.45,1441.28和125.36 pm/N,具备良好的三维力检测能力。在动态实验中,传感器测得的三维分力与理论值高度吻合,合力最大相对误差仅为4.40%。在裂缝检测实验中,表现出良好的裂缝宽度检测能力和受力检测能力,检测宽度的最大相对误差不超过4%。该传感器具有结构简单、解耦方式简便、灵敏度高的特点,可为机器人在复杂环境中的裂缝检测和修复任务提供支持。
A novel fingertip three‐dimensional(3D)force tactile sensor based on fiber Bragg grating is proposed and applied to crack detection.The sensor employs four FBGs combined with a sensitization structure,which optimizes the measurement sensitivity to axial and lateral forces while simplifying the decoupling process.The deformation characteristics under different forces were analyzed using a mechanical simulation,and a 3D force sensing model was constructed.The experimental results show that the sensitivities of the sensor in the X,Y,and Z directions are 1680.45,1441.28,and 125.36 pm/N,respectively,which indicates the ability for 3D detection.In a dynamic experiment,the 3D partial force measured using the sensor is highly consistent with the theoretical value,and the maximum relative error of the combined force is only 4.40%.In the crack detection experiment,it exhibits good crack width detection and force monitoring abilities,and the maximum relative error of the detection width is less than 4%.The sensor is characterized by simple structure,easy decoupling method,and high sensitivity,which is highly applicable to crack detection and the repair tasks of robots in complex environments.
作者
徐航
刘艳
许静
王冰
庞乐之
XU Hang;LIU Yan;XU Jing;WANG Bing;PANG Lezhi(School of Electronic Information Engineering,Beijing Jiaotong University,Beijing 100044,CHN)
出处
《半导体光电》
北大核心
2025年第3期528-535,共8页
Semiconductor Optoelectronics
基金
国家自然科学基金项目(61975009)。
关键词
光纤布拉格光栅
裂缝检测
三维力传感器
有限元仿真
力感知模型
fiber Bragg grating
crack detection
three-dimensional force sensor
finite element simulation
force sensing model
