摘要
为了实现机器人腕部受力状态的实时监测,将光纤布拉格光栅(FBG)与经典马耳他十字梁结构结合,设计了一种适用于机器人腕部的FBG三维力传感器。运用有限元分析软件ANSYS研究了传感器的应变分布特性和动态性能,确定了FBG在梁上的最优粘贴位置。通过差分及求和的测量方法,仅用5个FBG实现自解耦和温度补偿的三维力测量。最后,搭建了实验平台,研究了传感器的灵敏度、维间耦合等特性参数。实验结果表明,该传感器在0~100 N测力范围内在x,y,z方向的灵敏度分别为16.475,15.068,8.651 pm/N,维间耦合误差分别为1.3%,0.8%,1.5%。该传感器结构简单、工作可靠,可应用于对机器人腕部的三维力监测。
In order to achieve real-time monitoring of stress state of robot’s wrist,combining the fiber Bragg grating(FBG)with classic Maltese cross-beam structure,a 3D force sensor based on FBG for robot wrists is designed.The finite element analysis software ANSYS is used to study the strain distribution characteristics and dynamic performance of the sensor,and the optimal pasting position of the FBG on the beam is determined.Through differential measurement methods and summation,measurement of 3D force for self-decoupling and temperature compensation is realized with only 5 FBG.Finally,the experimental platform is established to study the sensitivity of the sensor and the inter-dimension coupling.The experimental results show that the sensitivity of the sensor in direction of x,y,and z in the force measurement range of 0~100 N 16.475,15.068,and 8.651 pm/N,respectively,and the inter-dimensional coupling errors are 1.3%,0.8%,and 1.5%,respectively.The structure of the sensor is simple and can work reliably,and can be applied to 3D force monitoring of the robot’s wrist.
作者
魏莉
张海洋
吴宇昌
丁华雷
王洋涛
WEI Li;ZHANG Haiyang;WU Yuchang;DING Hualei;WANG Yangtao(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China)
出处
《传感器与微系统》
北大核心
2025年第12期82-86,共5页
Transducer and Microsystem Technologies
