植入光纤布拉格光栅的不同杨氏模量软体材料弯曲测量响应特性

郭永兴; 杨跃辉; 熊丽; 吴恒; 陈敏

doi:10.3788/OPE.20202808.1634

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植入光纤布拉格光栅的不同杨氏模量软体材料弯曲测量响应特性

现代应用光学 | 更新时间：2020-08-14

- 植入光纤布拉格光栅的不同杨氏模量软体材料弯曲测量响应特性
- Response characteristics of fiber Bragg gratings embedded in soft materials with different Young's modulus for bending measurement
- 光学精密工程 2020年28卷第8期页码：1634-1643
- 作者机构：
  
  1.武汉科技大学冶金装备及其控制教育部重点实验室, 湖北武汉 430081
  2.武汉科技大学机械传动与制造工程湖北省重点实验室, 湖北武汉 430081
- 作者简介：
  
  [ "郭永兴(1986-), 男, 河南汝南人, 博士, 副教授, 2009年于华北水利水电大学获得学士学位, 2014年于武汉理工大学光纤传感技术国家工程实验室获得博士学位, 主要从事机器人光纤智能感知技术、光纤光栅传感理论与测试技术、机器人传感技术方面的研究。E-mail:yongxing_guo@wust.edu.cn" ]
  [ "杨跃辉(1996-), 男, 湖南邵阳人, 硕士研究生, 2018年于洛阳理工学院获得学士学位, 主要从事光纤光栅在软体机器人形状测量的应用。E-mail:yangyuehui998@wust.edu.cn" ]
- 基金信息：
  
  国家自然科学基金资助项目(51605348)
- DOI：10.3788/OPE.20202808.1634
  中图分类号： TN253;TP242
- 收稿日期：2019-11-22，
  
  修回日期：2020-01-15，
  
  录用日期：2020-1-15，
  
  纸质出版日期：2020-08-15
- 稿件说明：
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郭永兴, 杨跃辉, 熊丽, 等. 植入光纤布拉格光栅的不同杨氏模量软体材料弯曲测量响应特性[J]. 光学精密工程, 2020,28(8):1634-1643.

Yong-xing GUO, Yue-hui YANG, Li XIONG, et al. Response characteristics of fiber Bragg gratings embedded in soft materials with different Young's modulus for bending measurement[J]. Optics and precision engineering, 2020, 28(8): 1634-1643.
郭永兴, 杨跃辉, 熊丽, 等. 植入光纤布拉格光栅的不同杨氏模量软体材料弯曲测量响应特性[J]. 光学精密工程, 2020,28(8):1634-1643. DOI： 10.3788/OPE.20202808.1634.

Yong-xing GUO, Yue-hui YANG, Li XIONG, et al. Response characteristics of fiber Bragg gratings embedded in soft materials with different Young's modulus for bending measurement[J]. Optics and precision engineering, 2020, 28(8): 1634-1643. DOI： 10.3788/OPE.20202808.1634.

摘要

为了研究光纤布拉格光栅（Fiber Bragg Grating，FBG）在感知形状变形时，低杨氏模量的柔性材料与高杨氏模量的刚性二氧化硅的结合是否存在刚-柔应变耦合引起的蠕变、应变传递差异等实际问题。采用软体机器人常用的硅胶和聚二甲基硅氧烷（polydimethylsiloxane，PDMS）材料，制备了4个不同杨氏模量的软体基体，在每个软体基体内植入了3个FBG，形成4个具备形状测量能力的柔性传感器，并进行弯曲测试，然后建立应变传递模型验证了实验结果与理论推导的一致性。结果表明：软体基体和FBG结合时存在刚-柔耦合引起的蠕滑问题，约30 min后趋于耦合稳定。其次，4个柔性传感器内的3支FBG耦合稳定后的波长漂移量均表现出较好的线性和一致性。此外，FBG与基体的刚-柔性差异越大，耦合蠕滑越严重，应变传递引起的波长漂移量越小。其中，最大应变传递率为0.680，最小应变传递率为0.260，最大灵敏度为56.649，最小灵敏度为35.668。研究结果为基于植入式光纤光栅的软体机器人形状测量技术的研究提供了科学参考。

Abstract

To analyze whether the combination of flexible materials with low Young's moduli and rigid silica with a high Young's modulus produces any practical problems

such as creep or strain transfer differences caused by rigid-flexible strain coupling when the fiber Bragg grating(FBG) senses shape deformation

four different Young's modulus soft matrices were prepared by using silica gel (commonly used in soft robots) and polydimethylsiloxane (PDMS). Three FBGs were implanted in each soft matrix to form four flexible sensors with shape measurement capabilities and subjected to bending tests. The consistency between the experimental results and the theoretical derivation was verified theoretically via the strain transfer model.The results show that there is a creep-slip problem caused by rigid-flexible coupling when the soft matrix and FBG are combined

with the wavelength drift tending to be couple stable after about 30 minutes. Following creep stabilization

the wavelength drift of the three FBGs in the four flexible sensors shows good linearity and consistency. In addition

the larger the rigid-flexible difference between the fiber and the substrate

the more severe the coupling creep and the smaller the strain transfer rate. The maximum and minimum strain transfer rate are 0.680 and 0.260

respectively

while the maximum and minimum sensitivities are 56.649 and 35.668

respectively. These results provide a scientific reference for research focusing on the shape measurement technology of soft robots using implanted FBGs.

关键词

Keywords

references

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