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研究了一种光纤Bragg光栅(FBG)机器人多维力传感器,进行了传感器弹性体的静态、模态和动态有限元ANSYS模拟,获得弹性体在各方向受力与力矩时应力、应变的变化情况。在模拟的基础上,设计、制作出传感器机械结构,敷设FBG和搭建测试系统,并在压力与扭矩实验机上进行了有关测试;为模拟机器人腕部受冲击现象,进行传感器动态冲击实验。各种实验分析表明:本文传感器具有良好的线性度和重复性,灵敏度可达0.000 1nm/N,且具有结构设计简单、免受电磁干扰、稳定性好和成本低等优点。
A fiber Bragg grating (FBG) robot multidimensional force sensor was studied. The static, modal and dynamic finite element ANSYS simulation of the sensor elastic body was carried out. The changes of stress and strain of the elastic body in all directions were obtained. On the basis of simulation, we designed and fabricated the mechanical structure of the sensor, laid the FBG and set up the test system, and carried out the test on the pressure and torque testing machine. In order to simulate the impact of the wrist of the robot, the sensor dynamic impact test was carried out. Various experimental analysis shows that: The sensor has good linearity and repeatability, the sensitivity of up to 0.000 1nm / N, and has the advantages of simple structure design, immunity to electromagnetic interference, good stability and low cost.