Design and Implementation of a Polymer Optical Fiber Curvature Sensor for Dynamic Robot’s Instrumentation

Abstract

Advantages such as flexibility, high strain limits, electromagnetic field immunity and fracture toughness enable the application of polymer optical fibers (POFs) as an angular position sensor. This paper analyzes the possibility of POF implementation as an angular position sensor in a legged dynamic robot and compare the obtained data from optical fiber with the sensor data the robot already used, a potentiometer. After assembling a POF in a robot leg with the aid of plastic parts manufactured in 3d printer. Tests were performed with constant angular range and velocity. Results show that the POF angle response be satisfactorily expressed by a two-term exponential regression. Furthermore, a low standard deviation is observed, resulting in a good repeatability.