为测量硅橡胶与接触物间的摩擦因数(COF),以光纤光栅为传感元件,结合硅橡胶及有机玻璃支架,构建滑块型COF检测传感器。理论分析了光栅应变测量值与COF的关系,滑块滑动时,以光栅的应变均值及应变标准差识别COF。实验结果表明:当COF为0.34~0.435时,应变均值随COF递减且最大灵敏度为-443.7481 με/unit;应变标准差随COF呈指数型递增,最大测量灵敏度为284.5672 με/unit。此方案可应用于机械手触觉感知领域,应用前景广阔。

This study develops a slider sensor in which a fiber Bragg grating is considered to be the sensing element and combined with a silicone rubber and a bracket using polymethyl methacrylate, to measure the coefficient of friction (COF) between silicone rubber and a contact object. Further, the relationship between the strain measured by the fiber Bragg grating and COF is theoretically analyzed. The COF is measured based on the mean value and standard deviation of the strain measured by the fiber Bragg grating when the slider is sliding. Experimental results show that the mean strain decreases with the COF, and the maximum sensitivity is -443.7481 με/unit when the COF is 0.34-0.435. Furthermore, the standard deviation of strain increases exponentially with the COF, and the maximum measuring sensitivity is 284.5672 με/unit. The method for measuring the COF can be used in the field of tactile perception with respect to mechanical fingers and has broad application prospects.