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基于光纤Bragg光栅的机器人力/力矩触觉传感技术研究进展

Advances in Robot Force/Torque Tactile Sensing Technology Based on Fiber Bragg Grating

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摘要

力觉传感器是机器人最重要的外部传感器之一。随着特种机器人的兴起,研发能适应特殊环境(如微创手术、核磁共振手术、救灾救援、核电站、消防等)的新型力传感器显得尤为重要。光纤Bragg光栅(FBG)是一种新型无源光器件,以光为传感信号,具有无电检测、不受电磁干扰、无零漂、精度高、耐高温、单根光纤可串接多个光栅等优势。自2001年国外学者首次将FBG用于机器人多维力传感技术后,基于FBG的力/力矩触觉传感技术逐渐得到广泛研究和应用。基于此,综述了目前国内外基于光纤Bragg光栅原理的多维力/力矩传感技术、力触觉传感技术设计及应用的研究现状,展望了其发展趋势。

Abstract

Force and torque sensor is one of the most important external sensors for robots.With the development of special robots, it is becoming more and more important to research and develop a new type of force sensors that could be applied to special environment, such as minimally invasive surgery, nuclear magnetic resonance surgery, rescue and relief, nuclear power station, fire fighting, etc. As a special type of optical passive component, the fiber Bragg grating (FBG), taking light as sensing signal, is of prominent advantages, such as non-electric detection, immunity to electromagnetic noise, no zero drift, high precision, high temperature resistance,and the fact that multiple FBGs can be arrayed along a single fiber. Since FBGs was first used in robot multi-component force sensors in 2001, FBG based force/torque tactile sensing technology has been researched and applied widely. We describes the state of the art in multi-component force/torque sensing and tactile sensing technologies based on FBG, and presents the future work.

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中图分类号:TP212;TP242

DOI:10.3788/lop201653.050006

所属栏目:综述

基金项目:国家自然科学基金(51575407, 51509194)、中国博士后科学基金(2015M572208)

收稿日期:2015-11-13

修改稿日期:2015-12-21

网络出版日期:2016-04-15

作者单位    点击查看

郭永兴:武汉科技大学机械自动化学院, 湖北 武汉 430081
孔建益:武汉科技大学机械自动化学院, 湖北 武汉 430081
熊禾根:武汉科技大学机械自动化学院, 湖北 武汉 430081
李公法:武汉科技大学机械自动化学院, 湖北 武汉 430081
刘洪海:武汉科技大学机械自动化学院, 湖北 武汉 430081朴茨茅斯大学智能系统与生物医学机器人实验室, 英国朴茨茅斯 PO1 3HE

联系人作者:郭永兴(yongxing_guo@wust.edu.cn)

备注:郭永兴(1986-),男,博士,讲师,主要从事光纤传感技术方面的研究。

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引用该论文

Guo Yongxing,Kong Jianyi,Xiong Hegen,Li Gongfa,Liu Honghai. Advances in Robot Force/Torque Tactile Sensing Technology Based on Fiber Bragg Grating[J]. Laser & Optoelectronics Progress, 2016, 53(5): 050006

郭永兴,孔建益,熊禾根,李公法,刘洪海. 基于光纤Bragg光栅的机器人力/力矩触觉传感技术研究进展[J]. 激光与光电子学进展, 2016, 53(5): 050006

被引情况

【1】邓 靖,冯元华,高社成,李朝晖. 基于少模长周期光纤光栅的高灵敏度扭矩传感器. 激光与光电子学进展, 2017, 54(10): 100602--1

【2】张伟,苏超乾,张梅,雷小华,章鹏,陈伟民. 改进光纤光栅应变分布解调算法中优化目标函数的理论与方法. 中国激光, 2019, 46(2): 206002--1

【3】陈剑,郭永兴,朱方东,熊丽. 用于输电铁塔的光纤布拉格光栅倾斜传感器. 激光与光电子学进展, 2019, 56(8): 80602--1

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