Optical fiber grating force tactile sensor, robot and mechanical fingertip thereof

Abstract

Provided are an optical fiber grating force tactile sensor, a robot and a mechanical fingertip thereof. The optical fiber grating force tactile sensor comprises a fixed plate, a transmission rod, a transmission optical fiber, a first optical fiber grating and a second optical fiber grating, wherein the fixed plate is of a strip-shaped structure and provided with an upper surface and a lower surface; the transmission rod is provided with a deformable cross beam, the transmission rod is fixed to the fixed plate through a fastening part arranged on the deformable cross beam, and the deformable cross beam of the transmission rod penetrates through the upper surface and the lower surface of the fixed plate and is suspended relative to the fixed plate; the deformable cross beam comprises a stress end for perceiving the external force and an auxiliary end located at the end opposite to the stress end; the head end of the transmission optical fiber sequentially penetrates through the stress end of the deformable cross beam, the upper surface of the fixed plate and the auxiliary end of the deformable cross beam from the lower surface of the fixed plate in a pre-tensioned mode, and then the head end and the tail end of the transmission optical fiber are fixed to the lower surface of the fixed plate; the first optical fiber grating is arranged on the portion, close to the lower portion of the auxiliary end of the deformable transmission fiber, of the transmission optical fiber; the second optical fiber grating is arranged on the portion, close to the lower portion of the stress end of the deformable cross beam, of the transmission optical fiber. The optical fiber grating force tactile sensor is compact in structure, can achieve temperature compensation and reduces collection errors.

Description

technical field

[0001] The invention relates to the technical field of sensors, in particular to an optical fiber grating force tactile sensor, a robot and a mechanical fingertip thereof. Background technique

[0002] With the rapid development of robot intelligence, the robot's force-tactile perception of external information is becoming more and more important. Robots with force-tactile information feedback can more accurately complete various fine and complex operations. Therefore, high-precision, high-reliability , The research and development of the force tactile sensor that can be integrated has been paid attention to by the scientific and technological circles.

[0003] At present, it is reported that force tactile sensors are mostly designed based on electromagnetic signal components such as capacitors and strain gauges. These components have large zero point drift due to the influence of temperature and humidity, and weak electric signals are difficult to resist ele...

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