Manipulator touch-slip sensor based on fiber bragg grating

Abstract

The invention relates to the technical field of fiber bragg grating sensing, and particularly discloses a manipulator touch-slip sensor based on a fiber bragg grating. The manipulator touch-slip sensor comprises a sensing layer, a first cascade grating string and a second cascade grating string are arranged in the sensing layer, and a temperature compensation grating is arranged outside the sensing layer; the first cascade grating string comprises N first fiber grating sensing elements which are positioned on the same straight line and are sequentially connected in series; the second cascade grating string comprises N second fiber grating sensing elements which are arranged in parallel and are sequentially connected in series, and a first plane where each first fiber grating sensing element is located is parallel to a second plane where each second fiber grating sensing element is located; and the temperature compensation grating is connected with the first cascade grating string. Themanipulator touch-slip sensor is surface-mounted or buried in a mechanical finger, can detect tactile-slip sense information such as forward pressure, shearing force, sliding and the like, and can compensate interference of environment temperature on measurement information.

Description

technical field [0001] The invention relates to the technical field of fiber grating sensing, in particular to a fiber grating-based manipulator tactile sensor. Background technique [0002] Traditional touch-slip sensors can be mainly divided into piezoresistive, piezoelectric, capacitive, optical and so on according to the principle. However, the problem of insufficient flexibility has always restricted the development of tactile sensors. Most sensors cannot meet the real-time and high-precision tactile information monitoring requirements of manipulators due to their excessive size or weak anti-electromagnetic interference capabilities. [0003] The fiber grating sensor is a wavelength modulation sensor, which modulates the wavelength information after receiving the external physical quantity to obtain sensing information. In recent years, fiber grating sensors have been used in robotic touch-slip sensing due to their small size, high sensitivity, and strong anti-electrom...

AI Technical Summary

Problems solved by technology

However, the problem of insufficient flexibility has always restricted the development of tactile sensors. Most of the sensors cannot meet the real-time and high-precision tactile information monitoring requirements of manipulators due to their excessive size or weak anti-electromagnetic interference capabilities.

However, most of the existing fiber grating touch-slip sensors are for single measurement of tactile or slip information, and there are few researches on the composite sensing of touch-slip information of manipulators, and less consideration is given to the sensing error caused by the ambient temperature. Therefore, it is impossible to realize the comprehensive perception of the tactile information of the manipulator, resulting in the inability to fully control the working conditions of the manipulator.

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