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王彦; 徐浩雨; 汪俊亮; 朱伟; 蒋超

doi:10.37188/CO.2023-0088

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doi: 10.37188/CO.2023-0088

安徽工业大学电气与信息工程学院, 马鞍山 243000

基金项目:安徽省科技重大专项项目（No. 201903a05020029）

详细信息

作者简介:
王　彦（1975—），女，浙江庆元人，博士，教授，2008年毕业于南京航空航天大学智能监测与控制专业，获工学博士学位，现为安徽工业大学电气与信息工程学院光纤传感技术研究所所长，主要从事智能检测与控制、光纤传感技术、结构健康检测等方面的研究。E-mail: [email protected]

中图分类号:TP212.1
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- 网络出版日期: 2023-11-07

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School of Electrical and Information Engineering, Anhui University of Technology, Ma’anshan 243000

Funds:Supported by the Provincial Science and Technology Major Project of Anhui Province (No. 201903a05020029)

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Corresponding author: [email protected]

摘要

摘要:
为了提高柔性机器人抓握传感中掌心表面的重构精度，本文基于COMSOL仿真，在436 mm×436 mm×2 mm聚丙烯板上，采用7只经聚二甲基硅氧烷(PDMS)封装的光纤光栅（FBG）柔性传感器，选取环形布设的方式，在板末端中心与两角分别受力的情况下，使用光纤光栅解调仪采集实验中的传感器数据，并通过三次样条插值法进行连续化，设定数个平面Y与拟合圆环相交，计算过点函数获得三维曲面点集，实现了空间曲面的拟合可视化显示。在曲面末端中心受力时，板末端位移最小相对误差为0.549%，最大相对误差为8.300%，最小绝对误差为0.051 cm，最大绝对误差为1.255 cm，板末端两角受力时，板面重构末端位移最小相对误差为2.546％，最大相对误差为14.289％，最小绝对误差为0.005 cm，最大绝对误差为0.729 cm。实验结果为柔性机器人掌心抓握传感提供了应用基础。
- 曲率插值 /
- 曲面拟合 /
- FBG /
- 环形布设 /
- 曲率标定
Abstract:
To improve the accuracy of palm surface reconstruction in flexible robot grasp sensing, this study conducts a COMSOL simulation to select a ring arrangement comprising of 7 fiber Bragg grating (FBG) flexible sensors packaged with polydimethylsiloxane (PDMS) on a 436 mm×436 mm×2 mm polypropylene plate. Assuming that the center and two corner ends of the plate were subjected to stress, respectively, we collected sensor data using a fiber grating demodulation instrument during the experiment. The data was continuously interpolated using cubic spline interpolation. Several planes Y intersected with the fitting ring which created a three-dimensional surface. We calculated the point function to obtain the point set and achieve a fitting visual display of the spatial surface. The plate experienced a minimum relative error of 0.549% in end displacement, with a maximum relative error of 8.300%. the center of the surface’s end yielded a minimum absolute error of 0.051 cm, and a maximum absolute error of 1.255 cm. When both corners at the end of the plate are under stress, a minimum relative error of 2.546%, and a maximum relative error of 14.289% arise in plate reconstruction end displacement. The minimum absolute error is 0.005 cm, and the maximum absolute error is 0.729 cm. These experimental results provide a foundation to implement palm grip sensing in flexible robots.
- curvature interpolation /
- surface fitting /
- FBG /
- ring arrangement /
- curvature calibration

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图 1 微元示意图

Figure 1. Schematic diagram of microelement

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图 2 曲率标定图

Figure 2. Curvature calibration diagram

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图 3 传感器1~7在不同曲率下的中心波长偏移量

Figure 3. Center wavelength offsets of sensors 1~7 under different curvatures

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图 4 递推迭代逻辑图

Figure 4. Recursive iterative logic diagram

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图 5 曲率标定

Figure 5. Curvature calibration

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图 6 实验平台受力弯曲受力分布图

Figure 6. Distribution diagram of bending force on experimental platform

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图 7 COMSOL传感器布置图

Figure 7. COMSOL sensor layout diagram

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图 8 COMSOL仿真受力图

Figure 8. COMSOL simulation force diagram

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图 9 板末端中心负载1200 g

Figure 9. Center load of plate end 1200 g

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图 10 末端左角450 g（上），右角800 g（下）

Figure 10. 450 g at the left corner of the end (upper), 800 g at the right corner (lower)

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图 11 曲线形状重构原理

Figure 11. Schematic diagram of the principle of curve shape reconstruction

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图 12 曲面重构原理

Figure 12. Schematic diagram of the principle of curve surface reconstruction

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图 13 曲面三维重构算法流程

Figure 13. Schematic diagram of the surface 3D reconstruction algorithm flow

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图 14 两种受力实验平台

Figure 14. Two types of stress experimental platforms

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图 15 不同负载三维曲面重构拟合

Figure 15. Reconstruction and fitting of 3D surfaces under different stresses

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图 16 不同重量下板末端位移对比

Figure 16. Comparison of plate end displacement under different stresses

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图 17 不同重量下板末端位移相对误差

Figure 17. Relative errors of plate end displacement under different stresses

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图 18 不同重量下板末端位移绝对误差

Figure 18. Absolute errors of plate end displacement under different stresses

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图 19 两端负载三维曲面重构拟合

Figure 19. Reconstruction and fitting of 3D surface under stress at both ends

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图 20 不同重量下板末端位移对比

Figure 20. Comparison of plate end displacement under different stresses

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图 21 不同重量下板末端位移相对误差

Figure 21. Relative errors of plate end displacement under different stresses

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图 22 不同重量下板末端位移绝对误差

Figure 22. Absolute errors of plate end displacement under different stresses

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表 1 实验材料参数

Table 1. Experimental material parameters

材料名称	弹性模量/GPa	泊松比	密度/（kg*m⁻¹）
聚丙烯板	89	0.42	910
裸光纤	72	0.17	2203
硅胶	0.01	0.48	1084

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