Experimental Study of the Characteristics of Macro-Bending Fiber-Optic Sensors of Angular Displacement for Anthropomorphic Robot Grippers

Abstract

The article presents the results of the development of a fiber-optic angular displacement sensor (FOADS) for anthropomorphic robot grippers intended for operation in a wide temperature range (+80…-$80^{\circ}\mathrm{C}$), high humidity, radiation or strong electromagnetic fields. The mathematical model of the sensor is developed. By means of a special research stand, experimental tests were carried out, which made possible to determine: the divergence between the simulation results from the refined mathematical model and experimental studies; the effect of temperature on the FOADS transfer function; an additional error of FOADS due to the temperature change from minus $80^{\circ}\mathrm{C}$ to plus $80^{\circ}\mathrm{C}$; the influence of adjacent phalanges on the FOADS measurement results; values of technological variation of the FOADS transfer function.