拟人机器人抓手角位移大弯曲光纤传感器特性实验研究

2019 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon) Pub Date : 2019-10-01 DOI:10.1109/FarEastCon.2019.8933980

O.G. Babaev ogli, S. A. Matyunin

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引用次数: 0

摘要

本文介绍了一种用于拟人机器人抓手的光纤角位移传感器(FOADS)的开发结果，该传感器旨在在宽温度范围(+80…-$80^{\circ}\ mathm {C}$)、高湿、辐射或强电磁场中工作。建立了传感器的数学模型。通过专门的研究台架进行了实验测试，可以确定:精细化数学模型的模拟结果与实验研究的差异;温度对FOADS传递函数的影响;由于温度从负$80^{\circ}\mathrm{C}$到正$80^{\circ}\mathrm{C}$的变化而导致的FOADS的额外误差;相邻指骨对FOADS测量结果的影响;FOADS传递函数的技术变异值。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.

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2019 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

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