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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 PDF

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Publication number
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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spoke
torque
fbg2
fbg1
fiber grating
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CN109855780B (en
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刘月明
孔嘉浩
刘玉婵
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China Jiliang University
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China Jiliang University
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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

A kind of temperature compensation optical fiber grating sensor for joint of robot torque measurement
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 respectivelyWith, 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

Claims (2)

1.一种用于机器人关节扭矩测量的温度补偿光纤光栅传感器,它是由外轮缘、3个轮幅、内轮缘以及3个布拉格光纤光栅组成,其特征在于:所述的3个轮辐由轮辐A、轮辐B和轮辐C组成,所述的3个布拉格光纤光栅由FBG1、FBG2和FBG3组成,FBG1、FBG2和FBG3依次串联且它们的特征波长分别为λ1、λ2和λ3,所述的FBG1采用双端粘贴的方法固定至轮辐A的中性轴D 的+45°方向上,用于测量逆时针扭矩下的拉伸主应力与顺时针扭矩下的压缩主应力,所述的FBG2采用双端粘贴的方法固定至轮辐B的中性轴D的-45°方向上,用于测量逆时针扭矩下的压缩主应力与顺时针扭矩下的拉伸主应力,所述的FBG3采用单端粘贴的方法固定至轮辐C的中性轴D的0°方向上用以温度补偿,所述的FBG1与FBG2在粘贴前需进行预拉伸,以实现双向应变测量功能。1. a temperature compensation fiber grating sensor for robot joint torque measurement, it is composed of outer rim, 3 spokes, inner rim and 3 Bragg fiber gratings, it is characterized in that: described 3 spokes are composed of The wheel spoke A, the wheel spoke B and the wheel spoke C are composed. The three fiber Bragg gratings are composed of FBG1, FBG2 and FBG3. FBG1, FBG2 and FBG3 are connected in series in sequence and their characteristic wavelengths are λ 1 , λ 2 and λ 3 respectively, so The FBG1 is fixed to the +45° direction of the neutral axis D of the spoke A by means of double-end bonding, and is used to measure the tensile principal stress under counterclockwise torque and the compressive principal stress under clockwise torque. The FBG2 is fixed to the -45° direction of the neutral axis D of the spoke B by the method of double-end bonding, and is used to measure the compressive principal stress under the counterclockwise torque and the tensile principal stress under the clockwise torque. The FBG3 adopts The single-end sticking method is fixed to the 0° direction of the neutral axis D of the spoke C for temperature compensation. The FBG1 and FBG2 need to be pre-stretched before sticking to realize the bidirectional strain measurement function. 2.权利要求1所述的一种用于机器人关节扭矩测量的温度补偿光纤光栅传感器,其特征在于: 所述的3个布拉格光纤光栅粘贴所用的胶粘剂为353ND胶。2 . The temperature-compensated fiber grating sensor for measuring the torque of a robot joint according to claim 1 , wherein: the adhesive used for pasting the three fiber Bragg gratings is 353ND glue. 3 .
CN201910035756.2A 2019-01-15 2019-01-15 Temperature compensation fiber bragg grating sensor for measuring robot joint torque Active CN109855780B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
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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Publication number Priority date Publication date Assignee Title
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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)

* Cited by examiner, † Cited by third party
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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