基于光纤光栅的新型六维力传感设计基础问题与关键技术研究

Special robots often work in extreme environments, which require strict performance indicators for six-dimensional force sensor and make the conventional electromagnetic sensors cannot work properly. Fiber Bragg grating (FBG) sensing element features as anti-electromagnetic and radiated interference, high and low temperature resistance, no zero drift, etc. Therefore, FBG based six-dimensional force sensors would possess unique superiority. . Considering the problems and deficiencies during the design of the new sensor, this project systematically researches the FBG based new sensing principle and methods for six-dimensional force. The following design theory and technical difficulties will be mainly studied and solved: first, according to the characteristics of sensing and information processing of FBG, sensing model and primary configuration with low coupling for six-dimensional force will be proposed; further, the influencing characteristics from elastic deformations brought by six-dimensional force to the optical output precision of FBG and the associations and dependencies among the parameters of FBG and sensing configuration will be intensive studied, which provide theory support for the sensor design. Based on the above research results, the optimum matching parameters between FBG and sensor configuration will be confirmed and sensor prototypes will be manufactured to conduct experiment research. This project provides new thoughts and new methods for the research of FBG based six-dimensional force sensors and important theory and technology base for high-performance sensor of special robots.

工作于恶劣环境的特种机器人对六维力传感提出了苛刻的性能要求，导致常规电磁传感器难以适用，而光纤光栅元件具有抗电磁与辐射干扰、耐高低温、无温度零漂等特点，因此基于光纤光栅原理的六维力传感器将拥有独特的优越性。. 本项目针对该新型传感技术研究中存在的问题与不足，系统的研究六维力的光纤光栅传感新原理与新方法。重点研究解决以下设计理论和技术难点：研究根据光纤光栅的感知与信息处理特点去除维间耦合和实现温度补偿的方法，提出低耦合的光纤光栅传感模式与基本构型；进一步地，深入研究构型的各维弹性形变对光纤光栅光学输出的影响和作用机制，以及光纤光栅的物理参数对构型参数的关联和依赖关系，为传感设计提供理论支持；在此基础上，建立构型与光纤光栅的最优匹配参数，制造传感样机以开展性能测试。本项目为光栅原理的多维力传感技术研究提供了新思路与新方法，为特种机器人用高性能传感器的研制提供重要理论与技术基础。

多维力传感器是机器人实现有效力反馈-控制的核心部件。本项目针对特种机器人对六维力传感的苛刻性能要求，以及现有传感器性能之不足，系统的研究了基于光纤光栅的新型六维力传感新原理、新方法及关键技术。. 首先，研究了多维力传感器设计中涉及到的光纤光栅封装与温度补偿的基础问题，阐明了两种常用封装的光纤光栅在不同温度环境下的应变感知特性和温度补偿特性，并建立了热应变传递模型，分析了温度补偿差异的根本原因；.然后，研究了两种光纤光栅三维力的感知理论和关键技术。研发了一种可用于机器人指尖三维力测量的分体式传感器，采用6个光纤光栅实现了三维力的解耦和温度自补偿输出。研发了一种基于马耳他十字梁构型的光纤光栅三维力传感器，通过精巧的光纤光栅感知和输出设计，实现了仅用5个光纤光栅进行自解耦和温度自补偿的测量输出；. 最后，提出了一种双圈十字梁和镂空圆柱结合的六维力感知构型和光纤光栅布置及信息处理方法，制备并测试了传感器样机。使用12个光纤光栅实现了六维力的低耦合输出和温度自补偿，并与商业传感器做了对比测试，达到了良好的一致性。本项目的研究促进了多维力测量技术的发展，提供了新型高性能六维力传感器的设计理论和技术支撑，实际应用价值显著。