光纖式觸覺傳感器及其性能研究

觸覺是機(jī)器人非常重要的信息來源,給機(jī)器人安裝適當(dāng)?shù)挠|覺傳感器,使機(jī)器人具有某些觸覺功能,可以提高機(jī)器人作業(yè)的智能化程度. 因此,利用光纖外調(diào)制機(jī)理設(shè)計(jì)了一種機(jī)器人觸覺傳感器,介紹了傳感器的結(jié)構(gòu)和工作原理,對(duì)傳感器的靜態(tài)性能和動(dòng)態(tài)性能進(jìn)行了研究,建立了傳感器的數(shù)學(xué)模型. 研究結(jié)果表明,這種傳感器能夠有效地獲取觸覺信號(hào),可用在機(jī)械手上實(shí)現(xiàn)無損傷抓取作業(yè).
關(guān)鍵詞:觸覺傳感器;光纖;性能;機(jī)械手
Abstract :A tactile sensor mounted on a robot can make teh operation of the robot more intelligent . The st ructure and principal of a robot tactile sensor based on the outer modulation mechanism of a st rength type otical fiber sensor is int roduced in detail. Many experiment s were done to study the static and dynamic characteristics of a sensor , ,and the mathematical model was established as well. The result s showed that the could effectively sense the tactile sense and it could be used on a manipulator for soft-grasp.
Key words :tactile sensor ;optical fiber ;characteristic ;manipulator