柔性光纤低应力敷设路径自动规划方法

doi:10.3901/JME.260367

机械工程学报 ›› 2026, Vol. 62 ›› Issue (7): 114-125.doi: 10.3901/JME.260367

• 特邀专栏：系统工程与数字化 • 上一篇

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柔性光纤低应力敷设路径自动规划方法

陈昊¹, 吕乃静¹, 刘检华², 魏世民¹, 朱智南¹

1. 北京邮电大学智能工程与自动化学院北京 100876;
2. 北京理工大学机械与车辆学院北京 100081

收稿日期:2024-12-09 修回日期:2025-07-02 发布日期:2026-05-25
作者简介:陈昊，男，2001年出生，硕士研究生。主要研究方向为柔性体建模与仿真等。E-mail:2024141296@bupt.cn
吕乃静(通信作者)，女，1993年出生，博士，副教授，硕士研究生导师。主要研究方向为数字化装配技术等。E-mail:lvnaijing@bupt.edu.cn
刘检华，男，1977年出生，博士，教授，博士研究生导师。主要研究方向为数字化装配技术等。E-mail:jeffliu@bit.edu.cn
魏世民，男，1965年出生，博士，教授，博士研究生导师。主要研究方向为机器人机构学、机器人智能感知与控制等。E-mail:wsmly@bupt.edu.cn
朱智南，男，2002年出生，硕士研究生。主要研究方向为柔性线缆机器人装配等。E-mail:z3051815961@163.com
基金资助:
国家自然科学基金资助项目(52305524)。

Automatic Planning Method for Low-stress Laying Path of Flexible Optical Fiber

CHEN Hao¹, Lü Naijing¹, LIU Jianhua², WEI Shimin¹, ZHU Zhinan¹

1. School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing 100876;
2. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081

Received:2024-12-09 Revised:2025-07-02 Published:2026-05-25

摘要/Abstract

摘要： 针对目前光纤陀螺中柔性光纤的敷设路径设计主要依靠人工操作经验、控制光路应力难、装配效率低等问题，提出一种柔性光纤低应力敷设路径自动规划方法，包括单舱光纤和穿舱光纤。基于设置的敷设路径参考信息，包括起始连接面、终止连接面、敷设面外圆和穿舱孔(仅穿舱光纤)等，实现柔性光纤低应力敷设路径的自动规划。首先基于光纤的弯曲半径标准进行光纤低应力敷设路径设计，确定光纤敷设路径控制点的二维分布；然后根据光学器件与光纤敷设平面、穿舱孔(仅穿舱光纤)之间的空间位置关系，对路径控制点坐标在竖轴方向上进行离散化处理；同时根据光纤的长度对敷设路径进行调整，若光纤长度满足盘纤条件则进行盘纤操作，最终实现在三维空间中光纤低应力敷设路径的规划。基于以上设计思路开发了柔性光纤低应力敷设路径自动规划系统，进行了相关实例应用测试，验证了该方法的有效性。

关键词: 光纤陀螺, 柔性光纤, 敷设路径, 自动规划

Abstract: Aiming to address the issues of flexible optical fiber laying path design in fiber optic gyroscopes, which currently relies heavily on manual operation experience, difficulty in controlling optical path stress, and low assembly efficiency, an automatic planning method for low-stress laying path of flexible optical fiber has been proposed, including single-compartment fibers and through-compartment fibers. Based on the set reference information for the laying path, including the starting connection surface, terminating connection surface, laying surface outer circle, and through-compartment hole (applicable only to through-compartment fibers), the automatic planning of low-stress flexible optical fiber laying paths is achieved. Firstly, the low-stress laying path design of the fiber optic cable is carried out based on the bending radius standard of the fiber optic cable, thereby determining the two-dimensional distribution of the fiber optic cable laying path control points. Then, according to the spatial positional relationship between the optical devices and the fiber optic cable laying plane, as well as the through-compartment hole (applicable only to through-compartment fibers), the coordinates of the path control points are discretized in the vertical axis direction. At the same time, adjustments are made to the laying path based on the length of the fiber optic cable; if the fiber optic cable length meets the coiling conditions, coiling operations are performed, ultimately achieving the planning of low-stress fiber optic cable laying paths in three-dimensional space. Based on the above design ideas, an automatic planning system for low-stress laying path of flexible optical fiber has been developed, and relevant practical application tests have been conducted, verifying the effectiveness of the method.

Key words: fiber optic gyroscope, flexible optical fiber, laying path, automatic planning

中图分类号:

TP391

陈昊, 吕乃静, 刘检华, 魏世民, 朱智南. 柔性光纤低应力敷设路径自动规划方法[J]. 机械工程学报, 2026, 62(7): 114-125.

CHEN Hao, Lü Naijing, LIU Jianhua, WEI Shimin, ZHU Zhinan. Automatic Planning Method for Low-stress Laying Path of Flexible Optical Fiber[J]. Journal of Mechanical Engineering, 2026, 62(7): 114-125.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I7/114

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柔性光纤低应力敷设路径自动规划方法

Automatic Planning Method for Low-stress Laying Path of Flexible Optical Fiber

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