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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Distributed Curvature Sensing and Shape Reconstruction for Soft Manipulators With Irregular Cross Sections Based on Parallel Dual-FBG Arrays
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Distributed Curvature Sensing and Shape Reconstruction for Soft Manipulators With Irregular Cross Sections Based on Parallel Dual-FBG Arrays

机译：基于双双FBG阵列的不规则截面软机械臂的分布曲率传感和形状重构

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摘要

This article presents a distributed curvature sensing and shape reconstruction method based on parallel dual fiber Bragg grating (FBG) arrays for a type of cable-driven soft manipulator with irregular cross sections. The curvature at each measured point can be detected by the differential response of the relevant dual-FBG sensing unit with less interference from the temperature and axial driven force. The shape of the manipulator can be completely reconstructed by using the integration of the piecewise curvature functions. The measurement principle of curvature and shape reconstruction method have been investigated and derived. Experiments indicate that the constant temperature-induced error for the detected curvature is less than 0.1042 m(-1). The error of the detected curvature is small less than -0.0824 m(-1) within a changing temperature from 30 degrees C to 50 degrees C. The shape of the manipulator can be reconstructed with a small error of less than 1 mm under a constant or changing temperature environment. Static and dynamic grasping experiments for the manipulator have been implemented, which indicates a feasible shape tracking with resistance for axial force effect. Such merits further validate the effectiveness of the proposed approach for distributed curvature sensing and shape tracking of the manipulator with irregular cross sections.
机译：本文提出了一种基于平行双光纤布拉格光栅（FBG）阵列的分布式曲率传感和形状重构方法，用于一类具有不规则横截面的电缆驱动软操纵器。可以通过相关双FBG传感单元的差分响应来检测每个测量点的曲率，而不受温度和轴向驱动力的干扰。通过使用分段曲率函数的积分，可以完全重建操纵器的形状。研究并推导了曲率和形状重构方法的测量原理。实验表明，检测到的曲率的恒定温度引起的误差小于0.1042 m（-1）。在从30摄氏度到50摄氏度的变化温度范围内，检测到的曲率误差小于-0.0824 m（-1）。在恒定的条件下，可以以小于1 mm的较小误差重建机械臂的形状或不断变化的温度环境。进行了机械手的静态和动态抓握实验，这表明了对轴向力效应具有抵抗力的可行形状跟踪。这样的优点进一步验证了所提出的用于具有不规则横截面的机械手的分布曲率感测和形状跟踪的方法的有效性。

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