CN109855780A - A kind of temperature compensation optical fiber grating sensor for joint of robot torque measurement - Google Patents
A kind of temperature compensation optical fiber grating sensor for joint of robot torque measurement Download PDFInfo
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- CN109855780A CN109855780A CN201910035756.2A CN201910035756A CN109855780A CN 109855780 A CN109855780 A CN 109855780A CN 201910035756 A CN201910035756 A CN 201910035756A CN 109855780 A CN109855780 A CN 109855780A
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Abstract
The present invention is a kind of temperature compensation optical fiber grating sensor for joint of robot torque measurement, belongs to fiber grating sensing technology field.As shown in Figure 1,3 bragg gratings of the invention are made of FBG1, FBG2, FBG3, they are sequentially connected in series and characteristic wavelength is respectively λ1、λ2And λ3On+45 ° of directions for the neutral axis D that FBG1 is fixed to spoke A using the method that both-end is pasted, on -45 ° of directions for the neutral axis D that FBG2 is fixed to spoke B using the method that both-end is pasted, on the 0 ° of direction for the neutral axis D that the method that FBG3 uses single-ended stickup is fixed to spoke C.By detecting the characteristic wavelength offset of FBG1 and FBG2 it can be concluded that principal stress size, and the characteristic wavelength offset of FBG3 plays the role of temperature-compensating, obtains torque using the linear relationship of principal stress and torque, to realize the measurement to joint of robot torque.
Description
Technical field
The invention belongs to fiber grating sensing technology fields, devise a kind of temperature for joint of robot torque measurement
Compensated optical fiber grating sensor, structure are made of outer rim, 3 spokes, inner rim and 3 bragg gratings, are used
With the torque of each joint of robot measurement, and then realize the flexible control and man-machine collaboration of robot.
Background technique
Importance of the sensor in modern science and technology is increasingly recognized.Either led in industry and national defence
Domain, or in fields such as bioengineering, health care, environmental protections, it all be unable to do without the application of sensor everywhere.Multi-dimensional force sensing
Device is to realize machine humanization and a kind of intelligent mostly important sensor, it is engineering mechanics detection and robot motion's control
The basis of system, application range are also increasingly wider.And vital effect is played in joint torque sensor among these, it
It is capable of the torque of each joint of real-time monitoring robot, the data and machine for then torque sensor Real-time Feedback being utilized to return
Human occupant dynamic model, can be monitored in real time whether motion arm is collided with robot, so that corresponding safeguard measure is taken,
And then realize the flexible control and man-machine collaboration of robot.
Fiber grating is a kind of refractive index generation axial cyclic modulation formation for making fiber core by certain method
Diffraction grating, be one of fiber optic passive device with the fastest developing speed in recent years.Using fiber grating as the detection of sensing unit
Device has the advantages that very much, such as low-loss, corrosion resistance, electrical insulating property compared to the electric class detection device of tradition.Fiber grating is answered
Become piece to be made of bragg grating and metallic elastic platelet substrate, this FBG strain gauge compares type metal foil type resistance
Foil gauge has apparent technical advantage under all kinds of occasions.Therefore, fiber grating is applied to the measurement of joint of robot torque
It is meaningful.
Summary of the invention
It is an object of the invention to realize the measurement of joint of robot torque, devise a kind of for joint of robot torque
The temperature compensation optical fiber grating sensor of measurement.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of temperature compensation optical fiber grating sensor for joint of robot torque measurement, by outer rim, 3 spokes, lubrication grooves
Edge and 3 bragg grating compositions, as shown in Figure 1.
3 spokes are made of spoke A, spoke B and spoke C.
3 bragg gratings are made of FBG1, FBG2 and FBG3, and FBG1, FBG2 and FBG3 are sequentially connected in series
And their characteristic wavelength is respectively、With, the FBG1 is fixed to spoke A's using the method that both-end is pasted
On+45 ° of directions of neutral axis D, for measuring the stretching principal stress under anti-clockwise torque and the compression under clockwise torque is main answers
Power, on -45 ° of directions for the method neutral axis D that is fixed to spoke B that the FBG2 is pasted using both-end, for measuring the inverse time
Compression principal stress under needle torque and the stretching principal stress under clockwise torque, the FBG3 are solid using the method for single-ended stickup
It is fixed to needing to carry out prestretching before stickup to temperature-compensating, the FBG1 and FBG2 on 0 ° of direction of the neutral axis D of spoke C
It stretches, to realize two-way strain measurement function.
It is 353ND glue that 3 bragg gratings, which paste adhesive used,.
Detailed description of the invention
Fig. 1 is the two-dimensional surface and section of the temperature compensation optical fiber grating sensor for joint of robot torque measurement
Figure.
Fig. 2 is 3 bragg fiber light of the temperature compensation optical fiber grating sensor for joint of robot torque measurement
Grid series connection index path.
Specific embodiment
Below with reference to Fig. 1 and Fig. 2, the invention will be further described.
For the temperature compensation optical fiber grating sensor of joint of robot torque measurement, by outer rim, 3 spokes, lubrication grooves
Edge and 3 bragg grating compositions, as shown in Figure 1.
The inside radius of the outer rim is 40mm, outer radius 54mm, with a thickness of 5mm.
The inner rim inside radius is 20mm, outer radius 32mm, with a thickness of 5mm.
3 spokes are made of spoke A, spoke B and spoke C, and length is 22mm, and width is 20mm, thick
Degree is 3mm, each other 120 ° two-by-two of the spatial position of 3 spokes, the both ends of 3 spokes and the inner rim, outer
Wheel rim connection.
BBS is wideband light source in Fig. 2, for inputting the light of different characteristic wavelength into optical path.OSA is fiber grating demodulation
Instrument, for handling reflected optical signal.P is matching fluid, for absorbing transmitted light.Pass through the characteristic wavelength of FBG1 and FBG2
The available principal stress size of offset, and the offset of the characteristic wavelength of FBG3 plays the role of temperature-compensating.
Specific implementation step is as follows.
Step 1: production spoke structure.
It needs to select material and size, the integrated structure of production outer rim, spoke and inner rim, such as Fig. 1 institute according to described
Show.
Step 2: the paste position of 3 bragg gratings and fixation are determined.
Force analysis is carried out to it by the relevant knowledge of the mechanics of materials, circle disk center power taking square can be obtained:
So having:
In formula: x is the distance of the spoke section that sections to inner rim outer ring;Q is shear stress;M is moment of flexure;T is to apply
The torque added.
When the corner of spoke both ends junctionWhen being zero, a certain spoke is appliedWhen=1 unit couple square,
It can be obtained according to the Mohr's theorem in the mechanics of materials:
In formula:For corner;L is the length of spoke;E is elasticity modulus;I is rotary inertia.
It can thus be concluded that:
The expression formula of Q being substituted into the expression formula of M can obtain:
Therefore, as x=L/2, moment of flexure suffered by spoke is zero, i.e., bragg grating is affixed on spoke kernel of section can be with
Eliminate the influence of moment of flexure.
By rectangular beam section flexure Calculation Shear formula:
In formula:It is rectangular section to the rotary inertia of neutral axis;H is the height of spoke.
It is found that shearing force obtains maximum value when y=0.Can be obtained by the pure shear shear force state of the mechanics of materials, with y-axis at+
On 45 ° of directions, principal stress is equal to maximum shear stress.
Therefore on+45 ° of directions for the neutral axis D that the FBG1 method for using both-end to paste is fixed to spoke A, FBG2 is used
On -45 ° of directions for the neutral axis D that the method that both-end is pasted is fixed to spoke B, FBG3 is fixed to wheel using the method for single-ended stickup
To temperature-compensating on 0 ° of direction of the neutral axis D of spoke C.
FBG1, FBG2 and FBG3 are sequentially connected in series, using the above-mentioned each endpoint of 353ND glue, as shown in Figure 1.
Step 3: when anti-clockwise torque effect, the screen periods of FBG1 are elongated, and the screen periods of FBG2 are shunk, the two
Characteristic wavelength offset direction on the contrary, FBG1 for measure stretch principal stress, FBG2 for measure compression principal stress, when clockwise
When torque acts on, then FBG1 stretches principal stress for measuring for measuring compression principal stress, FBG2.According to generalized Hooke theorem
In formula:Principal stress and compression principal stress are respectively stretched,For Poisson's coefficient.
Due to, and principal stress, it obtains:
The expression formula of Q is substituted into:
Therefore principal stressWith torqueIt is linear.By detecting the characteristic wavelength offset of FBG1 and FBG2 it can be concluded that main
Stress intensity, and the characteristic wavelength offset of FBG3 plays the role of temperature-compensating, and then obtains torque according to above-mentioned formula。
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110186490A (en) * | 2019-07-04 | 2019-08-30 | 东北大学 | A kind of spoke type fiber grating fatigue sensor with temperature self-compensation function |
CN110779651A (en) * | 2019-11-18 | 2020-02-11 | 重庆交通大学 | A Fiber Bragg Grating-based 3D Force Sensor with Double Cross Beams |
CN110802595A (en) * | 2019-11-15 | 2020-02-18 | 山东大学 | Sensing device for robotic arm, robotic arm assembly and application |
CN112649130A (en) * | 2020-12-29 | 2021-04-13 | 上海海事大学 | Medical puncture biopsy needle interface interaction mechanical property integrated test and method |
CN114323410A (en) * | 2021-12-31 | 2022-04-12 | 长飞光纤光缆股份有限公司 | Spoke type fiber bragg grating pressure sensor |
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CN2599555Y (en) * | 2003-01-15 | 2004-01-14 | 深圳市清华传感设备有限公司 | Floral spoke rib elastic body force cell |
WO2010072293A2 (en) * | 2008-12-23 | 2010-07-01 | Waterford Institute Of Technology | Fiber bragg grating temperature and strain sensor |
KR20110058521A (en) * | 2009-11-26 | 2011-06-01 | 한국생산기술연구원 | 1-axis torque sensor with trapezoidal spokes |
CN107218898A (en) * | 2016-03-22 | 2017-09-29 | 中国计量学院 | A kind of star fiber optic grating strain piece of surface Two-dimensional strain detection |
CN209570284U (en) * | 2019-01-15 | 2019-11-01 | 中国计量大学 | A temperature-compensated fiber grating sensor for torque measurement of robot joints |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN2599555Y (en) * | 2003-01-15 | 2004-01-14 | 深圳市清华传感设备有限公司 | Floral spoke rib elastic body force cell |
WO2010072293A2 (en) * | 2008-12-23 | 2010-07-01 | Waterford Institute Of Technology | Fiber bragg grating temperature and strain sensor |
KR20110058521A (en) * | 2009-11-26 | 2011-06-01 | 한국생산기술연구원 | 1-axis torque sensor with trapezoidal spokes |
CN107218898A (en) * | 2016-03-22 | 2017-09-29 | 中国计量学院 | A kind of star fiber optic grating strain piece of surface Two-dimensional strain detection |
CN209570284U (en) * | 2019-01-15 | 2019-11-01 | 中国计量大学 | A temperature-compensated fiber grating sensor for torque measurement of robot joints |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110186490A (en) * | 2019-07-04 | 2019-08-30 | 东北大学 | A kind of spoke type fiber grating fatigue sensor with temperature self-compensation function |
CN110802595A (en) * | 2019-11-15 | 2020-02-18 | 山东大学 | Sensing device for robotic arm, robotic arm assembly and application |
CN110779651A (en) * | 2019-11-18 | 2020-02-11 | 重庆交通大学 | A Fiber Bragg Grating-based 3D Force Sensor with Double Cross Beams |
CN112649130A (en) * | 2020-12-29 | 2021-04-13 | 上海海事大学 | Medical puncture biopsy needle interface interaction mechanical property integrated test and method |
CN114323410A (en) * | 2021-12-31 | 2022-04-12 | 长飞光纤光缆股份有限公司 | Spoke type fiber bragg grating pressure sensor |
CN114323410B (en) * | 2021-12-31 | 2023-06-06 | 长飞光纤光缆股份有限公司 | Spoke type fiber grating pressure sensor |
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