Research of robot multidimensional force sensing technology based on fiber Bragg grating

摘要

Robot multidimensional force sensor is useful to intelligent robot posture,movement and precise control of environmental perception.This requires force sensor to own many advantages,such as high sensitivity in each axis,good static and dynamic characteristics.A robot multidimensional force sensor based on the fiber Bragg grating(FBG)is introduced in this paper,and the static,modal and dynamic simulations of its elastic body are obtained by finite element software ANSYS.Then we obtain the distributions of stress and strain of elastic body under different forces and torques in each direction,and determine the optimum attaching position of fiber Bragg grating(FBG).On the basis of simulation,the mechanical structure of the sensor is designed and manufactured,FBG is laid,and measurement system is built up in the lab.In the pressure and torque experiment machine,we conduct a series of tests.At the same time,dynamic impact experiment of the sensor is conducted for simulating robot wrist subjected to impact force phenomenon.The experimental results show that the sensor has good linearity and repeatability,and its sensitivity can be up to 0.000 1nm/N.In addition,the sensor also has simple structure,high stability and low cost,and it is free from electromagnetic interference.