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基于机械手指的凸纤维格子触觉滑动传感器的研究
Guan Lu1, Shiwen Fu1, Yiming Xu2
1School of Mechanical Engineering, Nantong University, Seyuan Road, No. 9, Nantong 226019, China.
Sensors (Basel, Switzerland)
|June 19, 2024
概括
这项研究引入了一种新的纤维布拉格格 (FBG) 触摸滑动传感器,用于智能机器人手指. 传感器准确地检测滑动信号和材料类型,增强机器人抓取能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 传感器技术 传感器技术
背景情况:
- 智能机器人需要先进的触觉感应来完成复杂的操作任务.
- 灵活的滑动触觉对于机器人来说至关重要,以了解抓取过程中的对象相互作用.
研究的目的:
- 为智能机器人手指开发和评估一种新型的凸纤维布拉格格 (FBG) 触觉滑动传感器.
- 为了评估传感器在检测滑动信号和分类材料方面的性能.
主要方法:
- 使用的纤维布拉格格子 (FBG) 传感原理.
- 采用3D打印技术,用弹性树脂封装FBG传感器阵列.
- 设计了一个双层"半球立方体"分布式传感单元.
- 在机械手指上进行静态和动态实验.
主要成果:
- FBG传感器证明了与温度和应变的线性关系.
- 达到大约13 pm/°C的温度灵敏度和31.2-40.4 pm/N的压力灵敏度.
- 成功确定了滑动信号启动和终止点.
- 分类材料包括砂纸,纸板和聚烯塑料.
结论:
- 开发的FBG滑动触摸传感器适用于智能机器人应用.
- 传感器为增强机器人抓取和操纵提供了有价值的触觉反.
- 传感器的设计提供了高度适合机器人手指表面的设计.
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