Design and Experimental Research of Robot Finger Sliding Tactile Sensor Based on FBG
Abstract
:1. Introduction
2. FBG Pressure Tactile Sensing Principle
3. Design of FBG Sliding Tactile Sensing Array for Robot Finger
3.1. Simulation and Experimental Analysis of Embedded Depth of Sensing Array Grating Based on Tactile Sensing
3.2. Simulation and Experimental Analysis of Fiber Grating Sensing Array Structure Based on Sliding Perception
3.2.1. Experimental Analysis of Dynamic Detection of Embedding Depth
3.2.2. Experimental Analysis of Angle Comparison of Cross-Sensitive Units of Sensing Array Structure
3.3. Structural Design and Experimental Analysis of Double-Layer Sliding Tactile Sensor Array
4. Experiment and Analysis of Robot Finger Sliding Tactile Sensing Based on FBG
4.1. Fabrication of FBG Sliding Tactile Sensor
4.2. Sensing Array Calibration Experiment
- (1)
- Linearity experiment and analysis
- (2)
- Repeatability experiment and analysis
- (3)
- Creep experiment and analysis
- (4)
- Directional calibration experiment and analysis
- (5)
- Temperature calibration experiment and compensation analysis
4.3. Experiment and Analysis of Robot Finger Grasping Perception
- (1)
- Experiment and analysis of static grasp perception of robot fingers
- (2)
- Experiment and analysis of robot finger dynamic grasping and sliding.
5. Conclusions
- (1)
- The designed sensor has good linearity and repeatability, and the experimental results agree with the simulation results. The sensitivity can reach up to 14.5 pm/N, and the response to external load is good; the coincidence degree of loading characteristic curve is high, the deviations are all controlled within 5 pm, and the overall change tends to be linear.
- (2)
- The sensor has good creep resistance characteristic, the wavelength changes stably around the zero scale, and the overall deviation is controlled within 20 pm.
- (3)
- In the robot finger grasping experiment, the sliding tactile sensor has a high fit with the robot finger, and its structure is relatively stable, which shows the feasibility of applying it to the sliding tactile sensor detection of the robot finger surface.
- (4)
- In the robot finger dynamic sliding experiment, the sliding tactile sensing array can effectively sense the sliding signal and meet the needs of dynamic detection.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Number | Central Wavelength/nm | Grating Length/mm |
---|---|---|
1 | 1540.12 | 2 mm |
2 | 1545.40 | 3 mm |
3 | 1555.04 | 5 mm |
Embedded Depth/mm | Goodness-of-Fit of FBG1 | Goodness-of-Fit of FBG2 |
---|---|---|
0.3 | 0.9915 | 0.9820 |
0.5 | 0.9950 | 0.9955 |
0.8 | 0.9935 | 0.9925 |
1.0 | 0.9935 | 0.9830 |
1.2 | 0.9815 | 0.9870 |
2.0 | 0.9925 | 0.9905 |
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Lu, G.; Fu, S.; Xu, Y. Design and Experimental Research of Robot Finger Sliding Tactile Sensor Based on FBG. Sensors 2022, 22, 8390. https://doi.org/10.3390/s22218390
Lu G, Fu S, Xu Y. Design and Experimental Research of Robot Finger Sliding Tactile Sensor Based on FBG. Sensors. 2022; 22(21):8390. https://doi.org/10.3390/s22218390
Chicago/Turabian StyleLu, Guan, Shiwen Fu, and Yiming Xu. 2022. "Design and Experimental Research of Robot Finger Sliding Tactile Sensor Based on FBG" Sensors 22, no. 21: 8390. https://doi.org/10.3390/s22218390