Fiber grating six-dimensional force sensor and its main structure and measurement method

Abstract

The application discloses a novel fiber grating six-dimensional force sensor and its main structure and measurement method. The main structure provided by the application has good symmetry and is easy to process and manufacture. The fiber grating six-dimensional force sensor provided by this application has only 12 fiber grating elements, and compared with the 24 strain gauges generally required by the sensor of the resistance strain gauge group bridge measurement principle, the number of sensitive elements is doubled. . At the same time, the optical wavelength information is used as the output signal of the sensor, which has the advantages of anti-electromagnetic interference and zero drift. The measurement method provided by this application uses the wavelength difference output information of six groups of fiber gratings composed of 12 fiber gratings to realize automatic decoupling output of six-dimensional force and torque measurement information, and realize temperature self-compensation. Therefore, the present invention reduces inter-dimensional coupling and realizes self-decoupling measurement of three-dimensional force and three-dimensional moment.

Description

technical field [0001] The present application relates to the field of sensor technology, in particular to a fiber grating six-dimensional force sensor, its main structure and measurement method. Background technique [0002] With the rapid development of robot technology, people pay more and more attention to the research and development of special robots such as fire-fighting robots and rescue robots that work in special and harsh environments. As the most important force sensor of robots, the six-dimensional force sensor is particularly important for its applicability and measurement accuracy in the harsh working environment of special robots. [0003] At present, most of the existing six-dimensional force sensors are designed based on the principle of bridge measurement of resistance strain gauges. The zero point drift of resistance strain gauges due to the influence of temperature and humidity is large, and weak current signals are difficult to resist electromagnetic in...

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Problems solved by technology

[0003] At present, most of the existing six-dimensional force sensors are designed based on the principle of bridge measurement of resistance strain gauges. The zero point drift of resistance strain gauges affected by temperature, humidity, etc. is large, and weak current signals are difficult to resist electromagnetic interference in complex environments.

[0004] In addition, due to structural design, processing errors, and patch errors of general six-dimensional force sensors, the force or moment of a single dimension will also affect the measurement output of other dimensions, that is, inter-dimensional coupling, which will reduce the measurement of the sensor. precision

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