CN-121973279-A - Dexterous hand force touch sensor structure, robot dexterous hand and testing method

CN121973279ACN 121973279 ACN121973279 ACN 121973279ACN-121973279-A

Abstract

The application discloses a smart hand force touch sensor structure, which belongs to the technical field of touch sensing of robot smart hands and comprises a first force arm, a second force arm, a contact sliding rail and a fiber bragg grating sensor, wherein the first force arm and the second force arm are mutually hinged, the hinge point of the first force arm and the hinge point of the second force arm are equal to the same-direction end distance of the first force arm and the second force arm, an elastic element is arranged in the contact sliding rail, one side of the first force arm and one side of the second force arm are in sliding connection with the contact sliding rail and are correspondingly connected with two ends of the elastic element, and the fiber bragg grating sensor is connected with the other side of the first force arm and the second force arm.

Inventors

ZHANG HANQI
JIANG DONG
Lan Wulin
JIANG WENJIE
WANG WENJIE
MA YINXING

Assignees

南京林业大学

Dates

Publication Date: 20260505
Application Date: 20260119

Claims (9)

1. A smart hand force tactile sensor structure comprising The hinge point of the first force arm and the second force arm is equal to the distance between the same directional ends of the first force arm and the second force arm; the contact sliding rail is internally provided with an elastic element, and one side of the first force arm and one side of the second force arm are connected with the contact sliding rail in a sliding manner and correspondingly connected with two ends of the elastic element; The fiber bragg grating sensor is connected with the other sides of the first force arm and the second force arm.
2. The smart hand force touch sensor structure of claim 1, wherein a limiting turntable is arranged at the hinge joint of the first force arm and the second force arm, limiting stop rods are arranged on the first force arm and the second force arm, and the limiting stop rods are matched with the limiting turntable to limit the force arms.
3. The smart hand force touch sensor architecture of claim 2 wherein the limit dial is coaxially disposed with the first and second moment arm hinge points.
4. The smart hand force touch sensor structure of claim 1 wherein the ends of the first and second force arms are provided with fiber grating guide slots, the two fiber grating guide slots being arranged coplanar, the fiber grating sensor being secured within the fiber grating guide slots.
5. The smart hand force tactile sensor architecture of claim 1 wherein said first moment arm and second moment arm architecture are identical; The first force arm comprises a rod body and a sliding rod which are fixedly connected, two ends of the rod body are correspondingly connected with the elastic element and the fiber bragg grating sensor one by one, and the sliding rod is arranged in a sliding groove on the contact sliding rail in a sliding manner.
6. A robotic dexterous hand comprising a dexterous hand force tactile sensor structure according to any one of claims 1 to 5.
7. The robotic dexterous hand of claim 6, wherein the dexterous hand force tactile sensor structure is secured to a robotic finger of the robotic dexterous hand, and the contact slide is secured to a finger web position of the robotic finger.
8. A method of testing a robotic dexterous hand as claimed in any one of claims 6 to 7 comprising Electrically connecting one end of an optical fiber of the fiber bragg grating sensor with a demodulation system, and performing wavelength zero point calibration; the method comprises the steps of placing an object to be measured with unit weight on the finger web of a robot finger of a robot dexterous hand and contacting with a contact sliding rail, enabling the fiber bragg grating sensor to stretch straight and lift due to the fact that the first force arm and the second force arm move in a crossed mode under the action of gravity, and detecting drift signals in real time by a demodulation system; The object to be measured stays in a preset time period, and a drift value corresponding to the weight is recorded; Replacing objects to be tested with different weights to carry out repeated tests; And comparing whether the linear relation of the Bragg wavelength drift measured under different weights is not, and judging the dexterous hand performance of the robot.
9. The testing method according to claim 8, wherein when the fiber bragg grating sensor is subjected to a normal external force, the external force and the bragg wavelength drift satisfy the following relation according to the geometric relation and the fiber bragg grating characteristics; ; Wherein, the As the amount of bragg wavelength drift, In order to be able to adapt the sensitivity coefficient of the strain, Is the included angle between the power arm and the contact sliding rail in the initial state, In order to turn the force to which the resistance arm is subjected, For the forces to which the wire elastic element is subjected, Distance from the linear elastic element to the hinge point; F is an external force; is the elastic proportionality coefficient of the elastic element, For the length of the power arm, In order for the resistance arm length to be the same, For the purpose of optical fiber strain, As the amount of change in the length of the optical fiber, Is the initial grating length.

Description

Dexterous hand force touch sensor structure, robot dexterous hand and testing method Technical Field The application relates to the technical field of tactile sensation of smart hands of humanoid robots, in particular to a smart hand force tactile sensor structure, a robot smart hand and a testing method. Background Fiber grating technology presents unique advantages in force-touch sensors of robotic dexterous hands. As the demand for robots to perform fine operations and force sensing tasks in complex environments continues to increase, conventional force tactile sensors increasingly exhibit limitations due to large volumes, limited response speeds, and insufficient durability. In contrast, the fiber grating sensor can sense the mechanical effects such as pressure, bending or stretching by monitoring the tiny change of the wavelength of the reflected light in the optical fiber, so that the high-precision real-time detection of the external acting force is realized. The characteristic enables the robot to obtain more accurate force feedback in the grabbing and operating process, the application capability of the robot in the fields of medical treatment, manufacturing, service and the like is remarkably improved, and the technical problem of low feedback precision of the sensor is caused due to the defects of the traditional force touch sensor. Disclosure of Invention The application aims to provide a smart hand force touch sensor structure, a robot smart hand and a testing method, so as to solve the defects caused by the prior art. In order to achieve the above purpose, the application is realized by adopting the following technical scheme: In a first aspect, the present application discloses a smart hand force tactile sensor structure comprising The hinge point of the first force arm and the second force arm is equal to the distance between the same directional ends of the first force arm and the second force arm; the contact sliding rail is internally provided with an elastic element, and one side of the first force arm and one side of the second force arm are connected with the contact sliding rail in a sliding manner and correspondingly connected with two ends of the elastic element; The fiber bragg grating sensor is connected with the other sides of the first force arm and the second force arm. According to a further scheme of the application, a limiting turntable is arranged at the hinge joint of the first force arm and the second force arm, limiting stop rods are arranged on the first force arm and the second force arm, and the limiting stop rods are matched with the limiting turntable to limit the force arms. In a further scheme, the limiting turntable and the hinge point of the first force arm and the second force arm are coaxially arranged. According to a further scheme of the application, fiber bragg grating guide grooves are formed in the end parts of the first force arm and the second force arm, the two fiber bragg grating guide grooves are arranged in a coplanar mode, and the fiber bragg grating sensor is fixed in the fiber bragg grating guide grooves. According to a further scheme of the application, the first force arm and the second force arm are identical in structure; The first force arm comprises a rod body and a sliding rod which are fixedly connected, two ends of the rod body are correspondingly connected with the elastic element and the fiber bragg grating sensor one by one, and the sliding rod is arranged in a sliding groove on the contact sliding rail in a sliding manner. In a second aspect, the present application further provides a robot smart hand comprising a smart hand force touch sensor structure as described above. In a further scheme, the smart hand force touch sensor structure is fixed on a robot finger of the robot smart hand, and the contact sliding rail is fixed at a finger belly position of the robot finger. In a third aspect, the application also discloses a testing method of the robot dexterous hand, which comprises the following steps: Electrically connecting one end of an optical fiber of the fiber bragg grating sensor with a demodulation system, and performing wavelength zero point calibration; the method comprises the steps of placing an object to be measured with unit weight on the finger web of a robot finger of a robot dexterous hand and contacting with a contact sliding rail, enabling the fiber bragg grating sensor to stretch straight due to the fact that the first force arm and the second force arm move in a crossed mode under the action of gravity, and detecting drift signals in real time by a demodulation system; The object to be measured stays in a preset time period, and a drift value corresponding to the weight is recorded; Replacing objects to be tested with different weights to carry out repeated tests; And comparing whether the linear relation of the Bragg wavelength drift measured under different weights is not, and judging the dexterous hand perform