Optical bragg grating six-dimension-force sensor, as well as main body structure and measurement method thereof

Abstract

The invention discloses a novel optical bragg grating six-dimension-force sensor, as well as a main body structure and a measurement method thereof. The main body structure has a good symmetry, and is easy to process and manufacture. Compared with a sensor which is provided with 24 strain gauges based on the measurement principle of a resistance strain gauge bridging form, the optical bragg grating six-dimension-force sensor has the advantages that only 12 optical bragg grating elements are needed, and the number of sensitive elements is reduced by 50 percent. Furthermore, optical wavelength information is used as an output signal of the sensor, and the optical bragg grating six-dimension-force sensor has the advantages of electromagnetic interference resistance, no null drift and the like. The measurement method is used for outputting information by using the wavelength difference value of six groups of optical bragg gratings formed by 12 optical bragg gratings, so that automatic coupling-free output of six-dimension-force and moment measurement information is realized, and temperature self-compensation is realized. Therefore, dimension coupling is reduced, and self-decoupling measurement of three-dimension-force and three-dimension-moment is realized.

Description

technical field [0001] The present application relates to the field of sensor technology, in particular to a fiber grating six-dimensional force sensor, its main structure and measurement method. Background technique [0002] With the rapid development of robot technology, people pay more and more attention to the research and development of special robots such as fire-fighting robots and rescue robots that work in special and harsh environments. As the most important force sensor of robots, the six-dimensional force sensor is particularly important for its applicability and measurement accuracy in the harsh working environment of special robots. [0003] At present, most of the existing six-dimensional force sensors are designed based on the principle of bridge measurement of resistance strain gauges. The zero point drift of resistance strain gauges due to the influence of temperature and humidity is large, and weak current signals are difficult to resist electromagnetic in...

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Problems solved by technology

[0003] At present, most of the existing six-dimensional force sensors are designed based on the principle of bridge measurement of resistance strain gauges. The zero point drift of resistance strain gauges affected by temperature, humidity, etc. is large, and weak current signals are difficult to resist electromagnetic interference in complex environments.

[0004] In addition, due to structural design, processing errors, and patch errors of general six-dimensional force sensors, the force or moment of a single dimension will also affect the measurement output of other dimensions, that is, inter-dimensional coupling, which will reduce the measurement of the sensor. precision

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