The Perception Mechanism And Experiment Research Of The Robot Whisker Array Based On FBG

The application of biomimetic whisker technology to robot is of great importance for human-machine cooperation perception.In harsh environments,such as darkness,dust,smoke,humidity and strong electromagnetic interference,traditional sensing methods(like infrared or ultrasonic)will be deeply influenced by the environment.But the whisker sensing is influenced by the environment slightly.Compared with the traditional sensors,optical fiber sensors have a series of unique advantages.Optical fiber has the advantages of strong to electromagnetic interference,small diameter,light weight,corrosion resistance,high temperature resistance and so on.The combination of fiber Bragg grating(FBG)and bionic whisker technology is applied to bionic robot,and it is one of the hot topics in the field of robot perception.The main contents of this paper are as follows:1.The current research status of bionic robot and biomimetic whisker robot are reviewed and summarized.Combined with the bending sensing principle of fiber Bragg grating,bionic whisker array sensing technology based on FBG were proposed.2.The design of robot whisker sensor and sensor array system is introduced.The mathematical model of the bending of the whisker is established,and the whiskers are considered as the cantilever beam structure.Then distance detection algorithm is derived.The two 3*2 whisker arrays are mounted on the motor shaft through a specific structure.So the function of the rotation scanning of the whisker can be realized.The motor is mounted on the robot platform,and the movement of the whiskers by the wobble of the animal's head is simulated through the movement of the robot.3.The correctness of the distance detection algorithm is verified.ANSYS/LS-DYNA simulation software is used to simulate the process of whisker collision when the whisker is scanning.After obtaining the simulation data in the post processor,a mathematical model is set up to process and calculate the data.And then the contact distance is got.Compared with the actual distance,the correctness of the algorithm is verified and the optimal motion angle of the motor is determined.4.We carried out the experimental study on whisker array sensing.Firstly,we conducted the sensor calibration and sensor performance testing.So the reliability of the sensor is verified.Then the contact shape recognition experiment was continued.To fit the contour of the object,we first need to measure the contact distance.The shape information of the object is obtained by processing the distance data.At last,time domain analysis,frequency domain analysis and time-frequency analysis are used to analyze the data obtained by scanning the surface texture of objects with different intervals,and it proves that FBG whisker array has good texture recognition ability.Finally,the paper summarizes the work of the article,analyzes the research results and deficiencies,and puts forward some improvement methods.