WhiskerAssemblyProtocol

Whisker Assembly Protocol

1. Whisker Installation

• Trim the whisker base for better fitting
• Adjust nitinol wire length with proper insertion margin
• Insert whisker through both holes in the 3D-printed base
• Ensure whisker's wide surface parallel to grooved bridge

2. FBG Fiber Preparation

• Measure required length:
  • Position FBG black marks between bridge grooves
  • Measure from opposite end of grooved bridge
• Cut fiber at measured length
• Insert FBG into protective tube
• Add compensation tube to green end
  • Note: If forgotten, tube can be cut and glued later

3. Adhesive Application

• PPE Required: S-size gloves + mask
• Apply adhesive followed by immediate curing agent
• Key bonding points:
  • FBG marks near groove end
  • Bridge groove (another one)
  • Whisker mounting points (both sides)
  • Compensation tube junction (~compensation tube near the green end)
• Allow 5 min cooling after completion

Critical Notes:

• Select correct FBG wavelength
• Handle fiber with extreme care to prevent breakage
• Use minimal adhesive at all points (particularly the first two)
• Expect significant heat generation during curing

Signal Acquisition Test

Setup

1. Navigate to `whisker` directory
2. Execute Python script (use ↑ to recall previous command)

    * Typical command: `mode=plot`  

Data Visualization

• Real-time signal monitoring:

    * Time-domain response
    * Frequency spectrum analysis

Test Method

• Apply manual excitation to whisker
• Observe dynamic response in both plots