面向智能机器手的分布式光纤光栅触觉传感系统关键技术研究

The innovation of the tactile sensing technology will promote the development of the intelligent robot. Optical fiber grating sensor exhibits a number of advantages such as immunity to electromagnetic interference, wavelength division multiplex and so on, which makes it have become one of the most promising technologies in the sensing field. . The project is to design and structure the distributed tactile sensing system using the optical fiber Bragg grating as the tactile sensors. The protection technology of the optical fiber Bragg grating sensor is explored, which can adjust the temperature sensitivity and make the Bragg spectra split into two peaks. The second is that the design and manufacture of the multifunctional tactile sensing module by laser welding and ultrasonic welding. Bayspec’s FBG Interrogation Analyzer is used to structure the distributed tactile sensing system. The tactile sensing characteristics and the quantitative expressions are studied by the theoretical modeling, computer simulation and the experiments, including the pressure sensing caused by the 3D stresses and the torque, the slip sensing caused by the sudden slippage and the slippage process, the temperature sensing under the wide temperature range, and the simultaneous measurements of pressure /temperature, slip/pressure and slip/pressure sensing. At the same time, this project is to develop an interactive demodulation software of FBG tactile sensing based on Labview. . The research results will enrich the tactile testing technology and can be applied to the tactile sensing field of intelligent robotic hands.

触觉传感技术的创新将极大地促进智能机器手的发展。光纤光栅具有抗电磁干扰、波分复用等优点，在触觉传感领域有着广阔的应用前景。课题采用光纤Bragg光栅为触觉传感器，以仿人形手指为设计出发点，构建分布式触觉传感网络及其解调系统。主要研究内容有：研究光纤光栅温觉灵敏度可调的保护形式，重构单支FBG双谐振峰；桥式压觉传感单元和弹柱阵列式滑觉传感单元的设计与连接工艺优化；研究多种触觉响应特性及定量表征方法，包括三维应力下的压觉响应特性，突然滑落和滑移过程中的滑觉响应特性，宽泛温度环境下的温觉响应特性，以及压觉/温觉、滑觉/温觉、滑觉/压觉参数分离；应用光纤Bragg光栅查询分析模块（FBGA)构建分布式触觉传感网络及其解调系统，采用Labview设计开发解触觉调软件，实现在线实时触觉监测。项目的研究成果将丰富触觉传感测试技术，以期应用于智能机器手等触觉传感领域。

触觉感知技术创新将极大地促进智能机器手的发展。光纤光栅具有抗电磁干扰、波分复用等优点，在触觉传感领域有广阔的应用前景。课题采用光纤光栅(FBG)为触觉传感器，温觉感知、触压感知和滑觉感知为基础，研发多功能触觉感知单元，构建分布式触觉传感网络及解调系统。主要研究内容包括:(1)优化FBG重构双反射特性的模型(2)可穿戴式FBG触压感知单元及其性能研究(3)FBG滑觉感知系统及其传感性能研究(4)FBG高密度触压模块的感知性能研究(5)倾斜光纤光栅（TFBG）的多参量感知性能研究。研究结果表明:(1)采用异种金属材料的阶梯镀层可实现调节FBG温觉特性的保护性封装。(2)采用杠杆结构可以实现FBG触压感知单元的灵敏度可调可控；选用合适的材料构成桥式FBG触压感知结构，可以用于穿戴式智能感知。（3）以悬臂梁为基础的滑觉感知结构，采用FBG波长差值的一阶导数分析方法设置判别阈值，能够实现二维滑动的识别，采用差动式的FBG波长变化可以检测滑动灵敏度、滑动速度、滑动过程接触力变化等参数，研究结果对智能机器手的抓取、触摸等位姿的精准感知控制具有理论指导意义。（4）竖直嵌入的方式构成高密度FBG触压感知单元，可以通过感知区域的对称性原理实现对触压位置进行精确判定；采用FBGA解调模块、Wifi模块等构建触压解调系统，实现了移动互联的在线监测。研究成果为大型结构在使用过程中损伤判定的精准定位提供了理论基础，同时可以对FBG传感网络的优化布局提供研究基础。（5）TFBG纤芯模的温度敏感性比各模式包层模要高；而对应力传感而言则正好相反，此时包层模的灵敏度要明显高于纤芯模；对折射率传感特性，TFBG各模式谐振峰波长会随着折射率的变大而逐渐向长波长方向漂移，随着环境折射率的继续增大会导致TFBG从最高阶包层模开始出现截止现象；可为写入符合条件的TFBG提供了一定的理论指导，还可应用于监测液体管道泄漏。