以悬臂梁为核心结构设计了一种简单实用的滑觉感知单元.利用3支光纤布拉格光栅的中心波长差值的方差, 以及波长偏移的大小和方向进行滑动判知, 以实现滑动过程接触力变化、滑动速率与方向的检测.实验结果表明, 在0.2~1 N的接触力范围内, 该滑觉感知单元对微小的滑动有良好的检测效果, 最小灵敏度可达3.8 pm/mm; 滑动灵敏度、速率比例系数以及接触力的实验值与理论值的平均相对误差分别为6%、14%和6.6%.

A slip sensing unit based on cantilever structure is developed. The Bragg wavelength shifts of three fiber Bragg gratings and variance of the wavelength difference are used to predict whether slip happens or not, so that the fluctuation of the contact force, the sliding rate and direction can be detected. The experimental results show that the proposed slip sensing unit can detect micro slip within the range of 0.2~1 N of the contact force, whose minimum sensitivity is 3.8 pm/mm. The average relative errors between the experimental value and the theoretical value are 6%, 14% and 6.6% for the slip sensitivity, the slip speed coefficient and the contact force, respectively.