【摘要】：機器人觸覺感知技術(shù)對于機器人的智能化應(yīng)用有著極為重要的意義,隨著機器人工作環(huán)境的日趨復(fù)雜化,機器人在壓觸覺感知方面的性能要求也越來越高。光纖傳感器因具有體積小、柔性好、靈敏度高、抗電磁干擾及成本低等方面優(yōu)點,在壓觸覺傳感器的微型化、柔性化和陣列化等方面更具有優(yōu)勢。將光纖傳感應(yīng)用到機器人手指壓觸覺檢測是當前機器人觸覺感知領(lǐng)域的研究熱點之一。本文的主要研究內(nèi)容及研究成果如下:1)通過對機器人手指觸覺感知技術(shù)研究現(xiàn)狀的檢索和分析,發(fā)現(xiàn)現(xiàn)有的電子式壓觸覺傳感器存在難柔性化和抗電磁干擾差等不足。針對這一情況,分析了光纖式壓觸覺傳感器的優(yōu)勢和發(fā)展現(xiàn)狀,結(jié)合光纖彎曲特性的傳感機理,對光纖式壓觸覺傳感器在機器人手指觸覺方面的感知應(yīng)用進行了相關(guān)研究。2)光纖的彎曲形變會對光纖的傳輸性能產(chǎn)生影響,通過分析彎曲結(jié)構(gòu)對光纖的折射率、數(shù)值孔徑和傳輸損耗等參數(shù)的影響,論證了光纖彎曲傳感應(yīng)用在手指壓觸覺感知方面的可行性,并將塑料光纖和石英光纖的傳輸性能進行了對比分析。3)結(jié)合機器人手指形狀和光纖彎曲的性能參數(shù),設(shè)計了兩種光纖壓觸覺傳感器,一種是基于單模光纖純彎曲結(jié)構(gòu)的壓觸覺傳感器,另一種是基于塑料光纖彎曲和位移結(jié)構(gòu)的壓觸覺傳感器。使用多物理場分析軟件COMSOL對光纖的彎曲和結(jié)構(gòu)的受力情況進行仿真模擬,確定了兩種壓觸覺傳感器的最佳結(jié)構(gòu)參數(shù)。設(shè)計了使用純光纖檢測機器人手指彎曲度的測試實驗,最后對設(shè)計好的壓觸覺傳感器進行柔性材料的封裝和制作。4)針對壓觸覺傳感器的解調(diào)原理,搭建了實驗測試平臺,對傳感器的性能參數(shù)進行了靜態(tài)實驗標定。對機器人手指彎曲檢測進行了簡單的實驗驗證。實驗結(jié)果表明,設(shè)計的兩種壓觸覺傳感器基本滿足要求,其中塑料光纖壓觸覺傳感器的檢測范圍為0-20N,靈敏度為0.839dBm/N,單模石英光纖壓觸覺傳感器的檢測范圍為0-4N,靈敏度為0.125mW/N,兩者的線性度和重復(fù)度都較好。手指彎曲度檢測實驗效果比較明顯,能夠檢測的角度范圍為0-90度,但表現(xiàn)出非線性。文章的最后進行了總結(jié),分析了本文研究的不足,提出需要進一步改進的地方,為接下來的工作研究進行展望。
[Abstract]:Robot tactile sensing technology is of great significance to the intelligent application of robot. with the increasing complexity of robot working environment, the performance requirements of robot in pressure tactile perception are getting higher and higher. Because of its small size, good flexibility, high sensitivity, anti-electromagnetic interference and low cost, optical fiber sensor has more advantages in miniaturization, flexibility and array of pressure tactile sensor. The application of optical fiber sensing to robot finger pressure tactile detection is one of the research hotspots in the field of robot tactile perception. The main research contents and research results of this paper are as follows: 1) through the retrieval and analysis of the research status of robot finger tactile sensing technology, it is found that the existing electronic pressure tactile sensors have some shortcomings, such as difficult flexibility and poor anti-electromagnetic interference. In view of this situation, the advantages and development status of optical fiber pressure tactile sensor are analyzed, and the sensing application of optical fiber pressure tactile sensor in robot finger tactile sensing is studied according to the sensing mechanism of optical fiber bending characteristics. 2) the bending deformation of optical fiber will affect the transmission performance of optical fiber, and the influence of bending structure on refractive index, numerical aperture and transmission loss of optical fiber is analyzed. The feasibility of applying optical fiber bending sensor to finger compression tactile sensing is demonstrated, and the transmission performance of plastic optical fiber and quartz optical fiber is compared and analyzed. 3) combined with the performance parameters of robot finger shape and optical fiber bending, two kinds of optical fiber pressure tactile sensors are designed, one is based on single mode optical fiber pure bending structure. The other is a pressure tactile sensor based on plastic optical fiber bending and displacement structure. The bending and structural force of optical fiber are simulated by using multi-physical field analysis software COMSOL, and the optimum structural parameters of two kinds of pressure tactile sensors are determined. The test experiment of using pure optical fiber to detect the finger curvature of robot is designed. Finally, the designed pressure tactile sensor is packaged and fabricated by flexible material. 4) according to the demodulation principle of pressure tactile sensor, the experimental test platform is built, and the static experimental calibration of the performance parameters of the sensor is carried out. A simple experimental verification of robot finger bending detection is carried out. The experimental results show that the two kinds of pressure tactile sensors basically meet the requirements, in which the detection range of plastic optical fiber pressure tactile sensor is 0 鈮，

本文編號：2509905