宽量程内分区灵敏的光纤光栅多维力觉感知方法研究

Multi-component force/moment measurement system suffers impact load and overload damage when the robot performs starting, stopping, acceleration and deceleration actions with object. That also occurs when the robot operates tasks in unknown environments due to the inestimable characteristics of the manipulating object. Therefore, the wider measurement range of the system should be considered, which causes the system sensitivity decreases dramatically. However, systems with low sensitivity always hard to fulfill the requirement of high-performance force/torque information in precision manipulation. Hence, realizing the multi-component force/moment measurement system with wide-range, changeable sensitivity has become a problem to be solved urgently. The Fiber Bragg Grating (FBG) is a type of distributed Bragg reflector constructed in a short segment of optical fiber and able to measure physical changes and mechanical phenomenon with its particular wavelengths of light. Fiber Bragg gratings can then be used as direct sensing elements for force/torque due to their high sensitivity..Therefore, problems which are to be studied in this proposal will focus on the following aspects. .(1) To design novel elastic element with multi-sensing areas, and to propose a novel multi-component force/moment measurement method with changeable sensitivity based on the Fiber Bragg Grating (FBG) detection method, elastic element with multi-sensing areas and intelligent information processing..(2) To study design method for decoupled elastic element mechanisms, and to develop FBG-based multi-component force/torque measurement system integrated with spectrum analysis and wavelengths processing methods. .(3) To present the model method based on data/mechanism mixed with dynamic model, and to propose evaluation system for force/moment measurement system. .This project will propose new theories and methods on FGB-based multi-component force/moment measurement with changeable sensitivity and wide measurement range, and provide new theoretical methods and technical support for designing of force/moment measurement system. The research results will be applied to the accurate robotic assembly tasks in unknown environments, and robot-aided system for surgery.

力觉感知系统在机器人带负载启停和加减速过程中受很大的冲击载荷，加上未知环境中的操控对象难以估计，因此系统在设计时应考虑更大量程，使得系统的灵敏度急剧下降，难以满足精密作业对高灵敏度力信息的要求。如何研究测量范围宽、灵敏度高的力觉感知方法已成为亟待解决的难题。光纤光栅通过波长变化检测待测量，具有高灵敏度等优点，可以实现高灵敏度的力觉测量。本项目研究：①设计新型层叠式多敏感区力敏元件，结合高灵敏度光纤光栅检测方法，提出基于层叠式柔性构型和智能信息处理的灵敏度自动切换方法；②研究低耦合输出构型设计理论，结合频谱质量与波长信息协同处理方法，研究宽量程高灵敏度光纤光栅力觉感知系统设计方法；③结合动力学模型，采用基于数据/机理混合的建模方法进行系统建模方法研究，形成力觉感知方法性能评价体系。项目将提出宽量程内分区灵敏的光纤光栅力觉感知新理论和方法，有望应用于机器人未知环境精密作业和辅助外科手术等领域。

机器人感知技术通过获取和分析力觉、触觉、视觉、位置等信息，实现对外部环境和内部状态的理解，为人机的智能交互和柔性作业提供决策依据，是机器人实现智能自主操作的关键基础技术和主要瓶颈。在众多的感知中，力觉感知系统能检测机器人末端执行器操控工件时所产生的三维空间中力与力矩信息，为机器人的控制提供力感环境，是系统完成操控作业的重要条件之一。本项目通过开展新型层叠式多敏感区力敏元件和低耦合输出构型设计，结合频谱质量与波长信息协同处理方法，提出了层叠式柔性构型和灵敏度自动切换方法，完善了光纤光栅式力觉感知系统的设计和性能评价体系。项目成果形成了系列化的光纤光栅式多维力传感器，正应用于机器人灵巧作业、键盘压感检测、手机贴膜力度检测等领域。项目提出的宽量程内分区灵敏的光纤光栅力觉感知新理论和方法共发表了学术论文20篇，出版了专著3本，申请了国家专利3项，获得软件著作权3项，获得省部级二等奖等奖励3项。

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