基于机械手指的触觉传感器设计OA

Targeting at the demand of anti-electromagnetic interference and miniaturization of the tactile sensing element of the mechanical finger,an optical fiber Bragg grating flexible tactile sensor that can be mounted on the mechanical finger is studied.First,the structure of the sensor is designed and analyzed by using the finite element analysis software of ANSYS,and the structure of the sensor is improved based on the simulation results to improve the performance of the sensor.Then,according to the application requirements of the used mechanical finger,the elastomer encapsulation model is made through 3D printing,and the fiber optic grating is embedded in it to complete the fabrication of the sensor.Finally,through the static calibration experimental detection system,experiments and analysis such as linearity and repeatability are performed,the pressure sensitivity of the sensor is obtained as 27.5 pm/N,the linearity is 0.996,and the overall deviation of the sensor can be controlled within 8 pm.The experimental results show that the proposed fiber Bragg grating flexible haptic sensor with square holes and grooves can maintain good sensitivity and linearity under large loading conditions and achieve uniform strain sensing.