Design and research of wrist force sensor based on FBG

摘要

A wrist force sensor of walking robot based on fiber Bragg grating is proposed in this paper. The static and dynamic characteristic of the sensor's structure is obtained by finite element analysis. The distribution of stress and strain of the structure under different force and torque are obtained. And we calculated the sensitivity of the sensor under single direction force is 0.265pm/N. Based on the simulation of ANSYS, the mechanical structure of the sensor was designed and manufactured, FBGs were layed, and simulation measurement system was built in the lab. Pure force and torque sensing experiments have been carried out after finite element analysis. We analyzed a large number of test data from the experiments and extracted features, the characteristics of the sensor are obtained. The results demonstrate that the wrist force sensor is simple in structure, corrupting Electro-Magnetic Interference, high stability and sensitivity, good linearity and low cost. The results verify the feasibility of the proposed sensor.