Intelligent Skin Perception And Self Repair Of Robot Based On Fiber Bragg Grating

Currently,the application of artificial intelligence technology in the field of robotics is becoming increasingly widespread.Artificial intelligence skin can provide tactile perception systems,which is of great significance for the safety and precision of collaboration between robots and humans.Fiber Bragg grating sensors,with characteristics such as high sensitivity,strong networking capabilities,and large dynamic range,can real-time perceive information about the external environment of the robot,such as temperature,pressure,and deformation.This meets the diverse and high-precision requirements of artificial intelligence skin for sensors.Therefore,the application of fiber Bragg grating sensors in the artificial intelligence skin of robots will become an important trend in the future development of robot intelligence.The application of fiber Bragg grating sensors in the artificial intelligence skin of robots needs to face complex and changing external environments.To improve the reusability and accuracy of fiber Bragg grating sensors,it is crucial to study the self-repair system of fiber optic sensing networks.First,this paper analyzes the current research status of optical fiber smart skin and optical fiber sensing network self-repair,has a comprehensive understanding of the research status of the field of optical fiber smart skin,and points out the existing problems and shortcomings of the existing research.In addition,the sensing characteristics of Bragg Fiber Grating were studied and OptiGrating software was used to simulate the spectrum of Bragg Fiber Grating and cascaded Bragg Fiber Grating in different structural parameters to analyze the spectral characteristics of grating in different structural parameters and identify the influence of different structural parameters on the spectrum of Bragg Fiber Grating.Second,a new type of highly reliable fiber optic sensor network with self-healing ability is designed,and the self-healing method of the sensor network is researched based on the knowledge of graph theory,and the feasibility of three common shortest path algorithms for self-healing of the fiber optic sensor network is verified.A sensor array with five optical fiber sensors is designed according to the structure size of the actual manipulator.The finite element analysis software Workbench was used to simulate the micro structure of the perception unit,and the analysis showed that the structure size of the perception unit was 10mm × 3mm × 4mm.The situation of the manipulator touching the optical fiber sensing unit is simulated.Through the statics analysis,the suitable size design of the sensor is obtained,and the calibration experiment is carried out.Finally,the spatial positioning problem of the array-type sensing unit is studied,and force positioning algorithms are researched.The designed fiber optic intelligent skin is applied to the mechanical hand,and experiments are conducted using Lab VIEW software to verify the feasibility of force positioning and self-repair of the fiber optic intelligent skin.Perception experiments are conducted on the intelligent skin of the mechanical hand to verify its ability to sense pressure and temperature.