TY - JOUR
T1 - A fiber Bragg grating-based all-fiber sensing system for telerobotic cutting applications
AU - Rajan, Ginu
AU - Callaghan, Dean
AU - Semenova, Yuliya
AU - McGrath, Mark
AU - Coyle, Eugene
AU - Farrell, Gerald
PY - 2010
Y1 - 2010
N2 - A fiber Bragg grating (FBG)-based strain sensing system for minimally invasive telerobotic cutting applications is presented in this paper. Investigations assume that a scissor blade can be approximated as a uniformly tapered cantilever beam. A replica of the scissor blade is produced and strain characterization has been carried out using an FBG sensor system. Results are validated against measurements obtained using conventional electrical resistance strain gauges. The scissor blade experiences both direct and lateral forces during cutting, hence the system is characterized for a direct load range of 0-30 N and a lateral load range of 0-10 N. The results show a very good linear response for direct loading and some sensitivity to lateral loading. An actual sensorized scissor blade prototype is also characterized and results compared with that of the replica blade. The FBG interrogation system used was a macro-bend fiber filter-based ratiometric system. The use of FBGs together with macro-bend fiber-based interrogation system eliminates the influence of temperature on the sensing system and hence temperature independent strain information from the blade is obtained. The results obtained using the macro-bend fiber filter are compared with that of a commercial interrogation system and found to be in agreement. By implementing an all fiber sensing system based on fiber Bragg gratings and macrobend fiber filter interrogation system, remote operation of telerobotic cutting applications can be made more cost effective while providing a competitive accuracy and resolution solution.
AB - A fiber Bragg grating (FBG)-based strain sensing system for minimally invasive telerobotic cutting applications is presented in this paper. Investigations assume that a scissor blade can be approximated as a uniformly tapered cantilever beam. A replica of the scissor blade is produced and strain characterization has been carried out using an FBG sensor system. Results are validated against measurements obtained using conventional electrical resistance strain gauges. The scissor blade experiences both direct and lateral forces during cutting, hence the system is characterized for a direct load range of 0-30 N and a lateral load range of 0-10 N. The results show a very good linear response for direct loading and some sensitivity to lateral loading. An actual sensorized scissor blade prototype is also characterized and results compared with that of the replica blade. The FBG interrogation system used was a macro-bend fiber filter-based ratiometric system. The use of FBGs together with macro-bend fiber-based interrogation system eliminates the influence of temperature on the sensing system and hence temperature independent strain information from the blade is obtained. The results obtained using the macro-bend fiber filter are compared with that of a commercial interrogation system and found to be in agreement. By implementing an all fiber sensing system based on fiber Bragg gratings and macrobend fiber filter interrogation system, remote operation of telerobotic cutting applications can be made more cost effective while providing a competitive accuracy and resolution solution.
KW - Fiber Bragg grating (FBG)
KW - macrobend fiber filter
KW - telerobotic cutting
UR - http://www.scopus.com/inward/record.url?scp=77958003343&partnerID=8YFLogxK
U2 - 10.1109/JSEN.2010.2049260
DO - 10.1109/JSEN.2010.2049260
M3 - Article
AN - SCOPUS:77958003343
SN - 1530-437X
VL - 10
SP - 1913
EP - 1920
JO - IEEE Sensors Journal
JF - IEEE Sensors Journal
IS - 12
M1 - 5482041
ER -