基于FBG柔性传感器的形状重构

基于PDMS材料封装的光纤光栅(FBG)柔性传感器检测物体形状,研究了传感器个数与布局对不同形状物体重构精度的影响.使用COMSOL仿真软件验证了算法的准确性,制备了 4个FBG柔性传感器并对其进行曲率标定,将传感器分布在铝合金板上,均等分布3和4个FBG柔性传感器重构的最小相对误差分别为-6.12％和0.48％,实验...

Shape reconstruction based on the FBG flexible sensor

This article detects the shape of objects based on the flexible fibre optic grating ( FBG) sensors encapsulated in PDMSmaterial. The influence of the number and layout of sensors on the reconstruction accuracy of objects of different shapes is discussed.The accuracy of the algorithm is evaluated by using COMSOL simulation software. Four FBG flexible sensors are designed and calibratedfor curvature. The sensors are distributed on the aluminium plate. The minimum relative errors for the equally distributed 3 and 4 FBGflexible sensor reconfiguration are -6. 12% and 0. 48% , respectively. Experimental results show that the reconstruction is better when 4sensors are utilized. Therefore, by selecting 4 sensors in 7 different sets of dispositions, the layout has small relative error under thecondition of 4 different weights. The specific is that the interval values of one end of the aluminium alloy plate are 260, 100 and90 mm, respectively. For the other end, the interval values are 150, 150 and 150 mm, respectively. The effect of reconstruction is welland all have the smallest relative errors in the seventh group of 6. 22% , -1. 01% , -2. 52% , and -3. 22% , respectively. The designedFBG flexible sensor provides the basis for applications in the field of soft robot shape reconstruction.