CN109855780B - Temperature compensation fiber bragg grating sensor for measuring robot joint torque - Google Patents
Temperature compensation fiber bragg grating sensor for measuring robot joint torque Download PDFInfo
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- CN109855780B CN109855780B CN201910035756.2A CN201910035756A CN109855780B CN 109855780 B CN109855780 B CN 109855780B CN 201910035756 A CN201910035756 A CN 201910035756A CN 109855780 B CN109855780 B CN 109855780B
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- 230000001070 adhesive effect Effects 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 2
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Abstract
The invention relates to a temperature compensation fiber bragg grating sensor for measuring the torque of a robot joint, belonging to fiber bragg gratingsThe technical field of sensing. As shown in FIG. 1, the 3 Bragg fiber gratings of the present invention are composed of FBG1, FBG2, and FBG3, which are sequentially connected in series and have characteristic wavelengths of lambda, respectively 1 、λ 2 And lambda (lambda) 3 FBG1 is fixed to the +45° direction of the neutral axis D of the spoke a by a double-ended bonding method, FBG2 is fixed to the-45 ° direction of the neutral axis D of the spoke B by a double-ended bonding method, and FBG3 is fixed to the 0 ° direction of the neutral axis D of the spoke C by a single-ended bonding method. The main stress can be obtained by detecting the characteristic wavelength offset of the FBG1 and the FBG2, the characteristic wavelength offset of the FBG3 plays a role in temperature compensation, and the torque is obtained through the linear relation between the main stress and the torque, so that the torque of the robot joint is measured.
Description
Technical Field
The invention belongs to the technical field of fiber bragg grating sensing, and designs a temperature compensation fiber bragg grating sensor for measuring the torque of a robot joint.
Background
The importance of sensors in modern scientific technology has been increasingly accepted. The application of the sensor is not available everywhere in the fields of industry and national defense, as well as in the fields of bioengineering, medical and health, environmental protection and the like. The multidimensional force sensor is the most important sensor for realizing the humanization and the intellectualization, is the basis of engineering mechanics detection and robot motion control, and has wider application range. The joint torque sensor plays a vital role, can monitor the torque of each joint of the robot in real time, and then can monitor whether the operation arm collides with the robot in real time by utilizing the data fed back by the torque sensor and the robot dynamics model, so that corresponding protection measures are taken, and further the flexible control and man-machine cooperation of the robot are realized.
The fiber grating is a diffraction grating formed by axially and periodically modulating the refractive index of a fiber core by a certain method, and is one of the most rapidly developed fiber passive devices in recent years. The detection device using the fiber bragg grating as the sensitive unit has many advantages such as low loss, corrosion resistance, electrical insulation and the like compared with the traditional electrical detection device. The fiber grating strain gauge consists of a Bragg fiber grating and a metal elastic sheet substrate, and has obvious technical advantages compared with a metal foil type resistance strain gauge in various occasions. Therefore, it is significant to apply the fiber grating to the measurement of the robot joint torque.
Disclosure of Invention
The invention aims to realize the measurement of the torque of a robot joint, and designs a temperature compensation fiber bragg grating sensor for the measurement of the torque of the robot joint.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a temperature compensation fiber grating sensor for measuring the torque of a robot joint is composed of an outer rim, 3 spokes, an inner rim and 3 Bragg fiber gratings, as shown in figure 1.
The 3 spokes consist of spoke A, spoke B and spoke C.
The 3 Bragg fiber gratings consist of FBG1, FBG2 and FBG3, the FBG1, the FBG2 and the FBG3 are sequentially connected in series, and the characteristic wavelengths of the FBG1, the FBG2 and the FBG3 are respectively、/>And->The FBG1 is fixed to the neutral axis D of the spoke A in the +45 DEG direction by adopting a double-end bonding method and is used for measuring the tensile principal stress under the anticlockwise torque and the compressive principal stress under the clockwise torque, the FBG2 is fixed to the neutral axis D of the spoke B in the-45 DEG direction by adopting a double-end bonding method and is used for measuring the compressive principal stress under the anticlockwise torque and the tensile principal stress under the clockwise torque, the FBG3 is fixed to the neutral axis D of the spoke C in the 0 DEG direction by adopting a single-end bonding method and is used for temperature compensation, and the FBG1 and the FBG2 are required to be pre-stretched before bonding so as to realize the bidirectional strain measurement function.
The adhesive used for pasting the 3 Bragg fiber gratings is 353ND adhesive.
Drawings
Fig. 1 is a two-dimensional plan and cross-sectional view of a temperature compensated fiber grating sensor for robotic joint torque measurement.
Fig. 2 is a series optical path diagram of 3 bragg fiber bragg gratings of a temperature compensated fiber bragg grating sensor for robotic joint torque measurement.
Detailed Description
The present invention is further described with reference to fig. 1 and 2.
The temperature compensation fiber grating sensor for measuring the robot joint torque consists of an outer rim, 3 spokes, an inner rim and 3 Bragg fiber gratings, as shown in figure 1.
The inner radius of the outer rim is 40mm, the outer radius is 54mm, and the thickness is 5mm.
The inner radius of the inner rim is 20mm, the outer radius is 32mm, and the thickness is 5mm.
The 3 spokes consist of a spoke A, a spoke B and a spoke C, the lengths of the spokes A, the spokes B and the spokes C are 22mm, the widths of the spokes C are 20mm, the thicknesses of the spokes C are 3mm, the spatial positions of the 3 spokes are 120 degrees each other, and the two ends of the 3 spokes are connected with the inner rim and the outer rim.
The BBS in fig. 2 is a broadband light source for inputting light of different characteristic wavelengths into the optical path. The OSA is a fiber grating demodulator for processing the reflected optical signal. P is a matching fluid for absorbing transmitted light. The principal stress can be obtained by the characteristic wavelength offset of the FBG1 and the FBG2, and the characteristic wavelength offset of the FBG3 plays a role in temperature compensation.
The specific implementation steps are as follows.
Step one: and manufacturing a spoke type structure.
And selecting materials and sizes according to the requirements, and manufacturing a combined structure of the outer rim, the spoke and the inner rim, as shown in figure 1.
Step two: and determining and fixing the pasting positions of the 3 Bragg fiber gratings.
The stress analysis is carried out by the related knowledge of the mechanics of materials, and the moment of the center of the circle of the disc can be obtained:
so there are:
wherein x is the distance from the sectioned spoke section to the outer ring of the inner rim, Q is the shear stress, M is the bending moment, and T is the applied torque.
When the connecting corner of the two ends of the spokeWhen it is zero, apply +_to a certain spoke>When unit moment of couple=1, it is obtained according to the moire theorem in the mechanics of materials:
wherein:the rotation angle is defined as L, the length of the spoke is defined as L, E is the elastic modulus, and I is the moment of inertia.
This can be achieved by:
substituting the expression of Q into the expression of M can result in:
therefore, when x=l/2, the bending moment born by the spoke is zero, namely, the effect of the bending moment can be eliminated by attaching the fiber bragg grating to the center of the spoke section.
The calculation formula of the bending shear stress of the rectangular beam section is as follows:
wherein:the moment of inertia of the rectangular cross section to the neutral axis, and H is the height of the spoke.
It is found that when y=0, the shearing force takes a maximum value. The pure shear state is available from the mechanics of the material, with the principal stress equal to the maximum shear in the +45° direction to the y-axis.
FBG1 is fixed to +45° of the neutral axis D of spoke a by double-ended bonding, FBG2 is fixed to-45 ° of the neutral axis D of spoke B by double-ended bonding, and FBG3 is fixed to 0 ° of the neutral axis D of spoke C by single-ended bonding for temperature compensation.
FBG1, FBG2 and FBG3 were sequentially connected in series, and each of the above terminals was adhered by 353ND adhesive, as shown in fig. 1.
Step three: when the anticlockwise torque acts, the grating period of the FBG1 is prolonged, the grating period of the FBG2 is contracted, the characteristic wavelength offset directions of the two are opposite, the FBG1 is used for measuring the tensile principal stress, the FBG2 is used for measuring the compressive principal stress, and when the clockwise torque acts, the FBG1 is used for measuring the compressive principal stress, and the FBG2 is used for measuring the tensile principal stress. According to the generalized Hooke's theorem
Wherein:tensile principal stress and compressive principal stress, respectively, < >>Is poisson's coefficient.
Due toAnd principal stress +.>Obtaining:
substituting the expression of Q to obtain:
thus principal stressAnd torque->In a linear relationship. The principal stress can be obtained by detecting the characteristic wavelength offset of the FBG1 and the FBG2, and the characteristic wavelength offset of the FBG3 plays a role in temperature compensation, so that the torque is obtained according to the formula>。
Claims (1)
1. The utility model provides a temperature compensation fiber bragg grating sensor for robot joint moment of torsion measurement, it comprises outer rim, 3 spoke, inner rim and 3 Bragg fiber bragg grating, its characterized in that: the 3 spokes consist of a spoke A, a spoke B and a spoke C, the lengths of the spokes A, the spoke B and the spoke C are 22mm, the widths of the spokes C are 20mm, the thicknesses of the spokes C are 3mm, the space positions of the spokes C are 120 degrees each other, and the two ends of the spokes C are connected with the inner rim and the outer rimThe inner radius of the outer rim is 40mm, the outer radius is 54mm, the thickness is 5mm, the inner radius of the inner rim is 20mm, the outer radius is 32mm, the thickness is 5mm, the 3 Bragg fiber gratings are composed of FBG1, FBG2 and FBG3, the FBG1, the FBG2 and the FBG3 are sequentially connected in series, and the characteristic wavelengths of the FBG1, the FBG2 and the FBG3 are respectively lambda 1 、λ 2 And lambda (lambda) 3 The FBG1 is fixed to the neutral axis D of the spoke A in the +45 DEG direction by adopting a double-end bonding method and is used for measuring the tensile principal stress under anticlockwise torque and the compressive principal stress under clockwise torque, the FBG2 is fixed to the neutral axis D of the spoke B in the-45 DEG direction by adopting a double-end bonding method and is used for measuring the compressive principal stress under anticlockwise torque and the tensile principal stress under clockwise torque, the FBG3 is fixed to the neutral axis D of the spoke C in the 0 DEG direction by adopting a single-end bonding method and is used for temperature compensation, the FBG1 and the FBG2 are required to be pre-stretched before being bonded so as to realize a bidirectional strain measurement function, the principal stress can be obtained through the characteristic wavelength offset of the FBG1 and the FBG2, the characteristic wavelength offset of the FBG3 plays a role of temperature compensation, and the adhesive used for bonding the 3 Bragg fiber gratings is 353ND adhesive.
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| CN110186490A (en) * | 2019-07-04 | 2019-08-30 | 东北大学 | A kind of spoke type fiber grating fatigue sensor with temperature self-compensation function |
| CN110802595B (en) * | 2019-11-15 | 2020-11-27 | 山东大学 | Sensing device for mechanical arm, mechanical arm assembly and application |
| CN110779651B (en) * | 2019-11-18 | 2021-04-09 | 重庆交通大学 | Double-cross beam type three-dimensional force sensor based on fiber bragg grating |
| CN112649130B (en) * | 2020-12-29 | 2022-03-08 | 上海海事大学 | Integrated testing method for interaction mechanical property of medical puncture biopsy needle interface |
| CN114323410B (en) * | 2021-12-31 | 2023-06-06 | 长飞光纤光缆股份有限公司 | Spoke type fiber grating pressure sensor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2599555Y (en) * | 2003-01-15 | 2004-01-14 | 深圳市清华传感设备有限公司 | Floral spoke rib elastic body force cell |
| WO2010072293A2 (en) * | 2008-12-23 | 2010-07-01 | Waterford Institute Of Technology | Fiber bragg grating temperature and strain sensor |
| KR20110058521A (en) * | 2009-11-26 | 2011-06-01 | 한국생산기술연구원 | 1-axis torque sensor with trapezoidal type spoke |
| CN107218898A (en) * | 2016-03-22 | 2017-09-29 | 中国计量学院 | A kind of star fiber optic grating strain piece of surface Two-dimensional strain detection |
| CN209570284U (en) * | 2019-01-15 | 2019-11-01 | 中国计量大学 | A kind of temperature compensation optical fiber grating sensor for joint of robot torque measurement |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2599555Y (en) * | 2003-01-15 | 2004-01-14 | 深圳市清华传感设备有限公司 | Floral spoke rib elastic body force cell |
| WO2010072293A2 (en) * | 2008-12-23 | 2010-07-01 | Waterford Institute Of Technology | Fiber bragg grating temperature and strain sensor |
| KR20110058521A (en) * | 2009-11-26 | 2011-06-01 | 한국생산기술연구원 | 1-axis torque sensor with trapezoidal type spoke |
| CN107218898A (en) * | 2016-03-22 | 2017-09-29 | 中国计量学院 | A kind of star fiber optic grating strain piece of surface Two-dimensional strain detection |
| CN209570284U (en) * | 2019-01-15 | 2019-11-01 | 中国计量大学 | A kind of temperature compensation optical fiber grating sensor for joint of robot torque measurement |
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