Research On Quasi-distributed Shape Sensing Based On FBG

For the past few years,along with the booming development of robot technology,its application has developed to all walks of life.How to make robot have intelligent behavior similar to human has become a research hotspot.Currently,many researchers are trying to apply tactile sensors to intelligent robot systems,which can detect objects' vibration,texture,temperature and contact force.At the same time,the demand for special robots has also attracted people's attention,such as fire rescue robots,earthquake rescue robots,medical minimally invasive robots,etc.,which puts forward newer and higher requirements for the applicability,reliability and fault tolerance of the sensors configured by the robot under special conditions.Therefore,the application of tactile shape sensing technology in the field of robots is of great importance to human-machine cooperation It is of great significance.Optical fiber sensing technology has the advantages of anti electromagnetic interference,corrosion resistance,light weight,small volume,high sensitivity,and is widely used in aerospace,petrochemical,power electronics,civil engineering,biomedicine and other fields.It has great potential to replace the traditional electronic sensors.Therefore,in recent years,the research on optical fiber sensing has developed rapidly,in which fiber grating is used for transmission Sensory technology is the most concerned by the majority of scholars.The purpose of this paper is to study the quasi distributed shape sensing technology based on FBG,which can be used for robot's perception of object's shape.This paper analyzes the methods and research status of fiber shape sensing at home and abroad,studies the sensing principle and common demodulation technology of fiber Bragg grating,and puts forward two quasi distributed FBG shape sensing methods with different structures based on the needs of robot for shape sensing of external objects: FBG implanted sensor aims to explore its feasibility,and then proposes a whisker array shape sensing method Based on the principle of FBG curvature measurement and the different structure of the sensor,a curve and surface reconstruction algorithm for the two kinds of shape sensors is proposed.An experimental platform is built,and the prototype of the sensor is made by using 3D printing technology,and the experimental analysis of the two kinds of shape sensors with different structure is carried out.The experimental results show that FBG The sensitivity of the implanted sensor is 65.822pm/m-1,the spatial resolution is 3cm,and the measurement error is about 2.9%.The sensitivity of FBG whisker array sensor is 115.45pm/m-1,and the average measurement error of each sensing point is about 1.2%.By adjusting the measurement algorithm,it can meet the needs of any spatial resolution in theory.The feasibility and stability of the two sensors are verified,which provides a reference for the implementation of the shape perception of robot tentacles.Finally,the paper summarizes and analyzes the research results and shortcomings,puts forward the areas that need to be improved,and looks forward to the follow-up research.