光纤布拉格光栅滑觉感知单元

冯艳; 王飞文; 张华; 肖佳明; 胡瑢华

doi:doi:10.3788/gzxb20194809.0906001

光子学报, 2019, 48 (9): 0906001, 网络出版: 2019-10-12

光纤布拉格光栅滑觉感知单元

Slip Sensing Unit Using Optical Fiber Bragg Grating

论文大纲

冯艳 ^*王飞文张华肖佳明胡瑢华

作者单位

南昌大学机电工程学院江西机器人与焊接自动化重点实验室, 南昌 330031

光纤布拉格光栅悬臂式传感单元波长差值方差分析滑觉感知 Optical fiber Bragg grating Cantilever sensing unit Wavelength difference Variance analysis Slip sensing

摘要

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%.

Abstract

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.

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冯艳, 王飞文, 张华, 肖佳明, 胡瑢华. 光纤布拉格光栅滑觉感知单元[J]. 光子学报, 2019, 48(9): 0906001. FENG Yan, WANG Feiwen, ZHANG Hua, XIAO Jiaming, HU Ronghua. Slip Sensing Unit Using Optical Fiber Bragg Grating[J]. ACTA PHOTONICA SINICA, 2019, 48(9): 0906001.

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