Chen Tang, Yanlin He, Lianqing Zhu, Guangkai Sun. Research on end force measurement method of soft robot based on fiber Bragg grating[J]. Infrared and Laser Engineering, 2021, 50(7): 20200386
- Infrared and Laser Engineering
- Vol. 50, Issue 7, 20200386 (2021)
Fig. 1. Flow chart of software operator fabrication
Fig. 2. Distribution diagram of fiber Bragg grating implantation
Fig. 3. Flow chart of force measurement at the end of software operator
Fig. 4. Experimental system for measuring force of the software operator
Fig. 5. Relationship between wavelength drift and stress of three fiber grating sensors
Fig. 6. Histograms of the wavelength shift residual errors of the FBG sensor 1(a), 2(b), 3(c)
Fig. 7. Calculated transverse force along X -axis F x (a) and Y -axis F y (b) versus the actual value using linear fitting
Fig. 8. Residual caused by actual force and fitting
Fig. 9. Histogram of the residual error of F x (a) and F y (b)
Fig. 10. Set of measurements of rectified axial forces by the second-order Bernstein polynomial
Fig. 11. Residual figure of axial force F z
Fig. 12. Histogram of axial force Fz residual
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Table 1. Design requirements of 3D force sensor
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Table 2. Forces at the end of the software operator and the wavelength drift of the three gratings were partly determined
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