光纖式觸覺傳感器及其性能研究

觸覺是機器人非常重要的信息來源,給機器人安裝適當?shù)挠|覺傳感器,使機器人具有某些觸覺功能,可以提高機器人作業(yè)的智能化程度. 因此,利用光纖外調制機理設計了一種機器人觸覺傳感器,介紹了傳感器的結構和工作原理,對傳感器的靜態(tài)性能和動態(tài)性能進行了研究,建立了傳感器的數(shù)學模型. 研究結果表明,這種傳感器能夠有效地獲取觸覺信號,可用在機械手上實現(xiàn)無損傷抓取作業(yè).
關鍵詞:觸覺傳感器;光纖;性能;機械手
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