为了实现生物医疗领域软体手术机器人等柔性机构的曲率测量, 本文提出并设计了基于PVC(Polyvinyl Chloride, 聚氯乙烯)和硅胶复合基底的光纤布拉格光栅柔性曲率传感器。将光纤光栅植入到硅胶片中, 并将硅胶片粘贴在PVC基底的表面, 形成基于PVC和硅胶复合基底的曲率传感器。使用标准曲率校准块对传感器进行了校准实验, 测试不同曲率下传感器的反射光谱、波长漂移量等参数。为了证明PVC基底对植入在硅胶中FBG传感器的性能影响, 对基于PVC和硅胶复合基底和基于硅胶基底的传感器进行了灵敏度和重复性的实验测试。实验结果表明: PVC基底可以提高植入硅胶中FBG曲率传感器的灵敏度和重复性, 且基于PVC-硅胶复合基底的传感器灵敏度最高可达245.5 pm/m-1, 偏差指数不足3%。该传感器在生物医学等软体机器人和柔性机构的曲率测量中具有广阔的应用前景。

To meet the demand for curvature measurements in the fields of intelligent biomedical equipment and soft robotics, among others, a flexible curvature sensor based on a polyvinyl chloride (PVC) and silicone composite substrate was proposed and has been designed. Firstly, a fiber Bragg grating (FBG) sensor was embedded into a silicone film, which was pasted onto the surface of a PVC substrate. Then, calibration experiments were carried out to evaluate the reflection spectrum and wavelength shift of the sensor. Finally, the sensitivity and repeatability of the sensor based on the composite and silicone substrates were tested experimentally. The experimental results show that the sensitivity and repeatability of the FBG curvature sensor can be improved by using a PVC-reinforced substrate. The maximum sensitivity of the FBG sensor with the composite substrate is 245.5 pm/m-1 and its deviation index is less than 3%. The sensor has wide application prospects in the fields of soft robotics and biomedical curvature measurements.