Double-layer orthogonal fiber Bragg gratings flexible shape sensing technology

被引：0
|
作者：
Guo Y.-X. [1 ,2 ]
Yang Y.-H. [1 ]
Xiong L. [1 ]
机构：
[1] Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan
[2] Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2021年 / 29卷 / 10期
关键词：
Double-layer orthogonal; Fiber Bragg grating; Shape sensing; Soft robot;
D O I：
10.37188/OPE.20212910.2306
中图分类号：
学科分类号：
摘要：
Shape information feedback during soft robot operations is critical for its precise control. Due to its flexible body characteristics, high flexibility is a pre-requisite for the mounted shape measurement sensor. Therefore, flexibility of fiber Bragg gratings sensing technology for soft robots was evaluated in this study. In this article, a flexible sensor based on double-layer orthogonal fiber Bragg grating for 3D shape measurement is proposed, and the structure, and measurement principle of the sensor are explained. The sensor prototype comprises two layers of 4×4 fiber Bragg gratings arrays. The curvature calibration experiments of the sensor were carried out in the horizontal and vertical directions, and the linear incremental relationship between the wavelength shift and the curvature was obtained. Then, the three-dimensional shape measurement was optimized, and the three-dimensional coordinate system was established by measuring the curvature of the spatial sensing point, and converting the curvature information into spatial coordinate information. Next, the three-dimensional shape of the measured object surface was reconstructed through interpolation and fitting to the discrete coordinate points in space. The flexibly-shape sensor can realize the three-dimensional shape perception of complex curved surfaces, with a curvature measurement error range of 2.8%-4.5%. The fiber Bragg grating flexible sensor proposed in this article can provide technical support for the shape measurement of soft robots. © 2021, Science Press. All right reserved.
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页码：2306 / 2315
页数：9
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