Mechatronics sensors4
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This document discusses various types of sensors used in mechatronics including limit switches, vision sensors, fiber optic sensors, scanning laser sensors, ultrasonic sensors, touch and slip sensors, proximity rod tactile sensors, photodetector tactile sensors, conductive elastomer tactile sensors, pneumatic switch sensors, polymer tactile sensors, ultrasonic hybrid tactile sensors, VLSI-conductive elastomer tactile sensors, optical tactile sensors, and passive seam tracking sensors. References for further reading on the topic are also provided.
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The document discusses sensors and their role in mechatronic systems. It defines sensors as devices that produce an output signal in response to a physical phenomenon in order to provide information for decision making. Transducers are defined as devices that convert a signal from one physical form to another. The document outlines several factors to consider when selecting a sensor and discusses key parameters for evaluating sensor quality such as sensitivity, resolution, accuracy, and precision. It also categorizes different types of sensors.
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The tactile sensor is required for various robots.
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feature for preventing physical damage and for interacting
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advantages that the sensor is nonbreakable and that the sensor can be easily mounted on curved surfaces or deformable parts such as joints. This paper proposes a novel tactile sensor made of flexible and stretchable silicone rubber.
A structure of the sensor is similar to the capacitive tactile sensors. However, the proposed sensor utilizes a different principle from existing sensors. The sensor utilizes static electricity and electrostatic induction phenomenon, and can detect some touch conditions.
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depends on touch area, touch velocity, and material of touch
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This document discusses inductive proximity sensors. It explains that inductive proximity sensors can detect metallic objects without touching them using a high frequency magnetic field. The main components of an inductive proximity sensor are a coil, oscillator, detector, and output circuit. The coil generates a magnetic field that detects when a metallic target enters the field. Inductive proximity sensors are used in various industrial applications to detect metal and can detect objects even if they have dirt on them.
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Basic theory of accelerometer, gyroscope and magnetometer. Newton’s law
of Classical Mech. Inertial and non inertial reference system: centrifugal,
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evaluation: mean and std deviation in all axis w.r.t. data sheet. Drift effect
in MATLAB. Sit-to-stand experiment with 2 IMUs: development of an
algorithm able to estimate the duration of stand-up, sit-down and variation
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Proximity sensors detect objects without physical contact using various technologies like inductive, capacitive, ultrasonic and optical. Inductive sensors detect metallic objects using a coil and oscillator to create a magnetic field. Capacitive sensors detect metallic and nonmetallic objects by measuring capacitance changes between the sensor and object. Ultrasonic sensors use sound waves above human hearing range, while optical sensors use light beams reflected off objects. Key features of good sensors include precision, accuracy, response speed, operating range, reliability, easy calibration and low cost.
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sensor is an object whose purpose is to detect events or changes in its environment, and then provide a corresponding output.
Robot force torque sensor introduction
This document introduces force torque sensors, which are used in robotics to measure the applied force and torque between a robot's tool and flange. It discusses the typical specifications of these sensors, including measuring range, resolution, accuracy, repeatability, drift, noise level, output rate, and physical dimensions. Understanding these specifications is important for ensuring the sensor can adequately measure the forces required for the robotic application.
Sensors
There are many different types of sensors that can be used for various purposes based on their operating principles and outputs. Sensors can sense physical quantities like pressure, temperature, distance and detect properties of materials. They are classified according to their power source, output signal and detection method. Common sensor types include optical sensors, proximity sensors, switches, and those that detect specific physical quantities. Proximity sensors include inductive, capacitive and ultrasonic varieties. Limit switches can be configured for momentary or maintained operation. Digital and analog sensors provide different output signal types. Application of sensors depends on the sensing requirement.
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This document discusses different types of transducers used in mechatronics including synchros, resolvers, inductosyns, and LVDT. Synchros convert AC voltage to angular position or vice versa without physical contact. Resolvers have stator windings that output a voltage dependent on the sine or cosine of the resolver shaft angle. Inductosyns have an AC voltage applied to a scale where the output is a function of linear distance along the scale. LVDTs measure linear displacement using a primary coil and two secondary coils.
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The document discusses several key aspects of mechatronic system design including the design process, types of design, mechanisms, load conditions, flexibility, man-machine interfaces, safety, and distributed control systems (DCS). The design process involves multiple stages including need identification, feasibility analysis, specification, conceptual design, analysis and modeling, embodiment and optimization, detail design. Mechanisms experience various load conditions that must be considered in their design. Both mechanisms and structures require analysis of flexibility and vibration.
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Mechatronics systems combine mechanical engineering with electronics and software. They are found in many devices like washing machines and DVD players. These systems can have programmable control, allowing their functions to be redefined through software. They also may have adaptive control, where processing power allows optimization of behaviors according to local conditions. Mechatronics devices are often arranged in distributed systems that can work in parallel across a large area when synchronized by a microprocessor.
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This document discusses mechatronics and the transition from traditional mechanical systems to mechatronic systems. It explains that mechatronic systems integrate mechanical components with sensors, actuators, and microprocessors. This allows mechatronic systems to be more compact, have simplified and programmable movements, variable speed drives, electronic synchronization, and lighter structures compared to traditional systems. The accuracy of mechatronic systems is determined by feedback rather than mechanical tolerances. The document also describes four approaches to mechatronic design: replacing mechanisms, simplifying mechanisms, enhancing mechanisms with closed-loop control, and synthesizing new mechanisms.
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Traditional manufacturing processes are inflexible and have significant downtime when product sizes or types change. Quality assessment is usually manual and late in the process. Mechatronic systems introduce flexibility through feedback control of actuators, variable speed drives, and in-process automatic quality inspection. Mechatronic systems also allow integrated flexible manufacturing with robotics for loading/unloading and predictive maintenance based on in-line diagnostics. Mechatronics requires a modular engineering design approach that considers electronics and computing integration throughout the design process.
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- 1. Mechatronics References : 1. Robotic Engineering – An Integrated Approach Richard D. Klafter, Thomas A. Chmielewski, Michael Negin 2. NPTEL, Mechanical Engineering, Robotics - Prof. P. Sheshu, Prof. Kurien Issac, Prof. C. Amarnath, Prof. Bhartendu Seth, Asst. Prof. P.S.Gandhi, IIT, Bombay 3. Introduction to Robotics – S. K. Saha, Tata McGraw Hill 1
- 3. Vision Sensor - elements
- 6. Fibre – Optic sensors • Shutters • Liquid level detectors • Microbending • Reflection • Lateral displacement
- 7. Scanning Laser sensor • Used in robots which are used for arc welding • The sensor is mounted on the end effector to track the seam to be welded. • The entire sensor is moved over the track.
- 10. Position measurement using scanning laser and reflector
- 11. Ultrasonic sensors • Used for proximity sensing and imaging. • Used in ranging for photography • Safety curtain around a robot • To detect obstacles and walls in case of mobile robots More Information
- 12. Touch and Slip Sensors • Is the part being handled correctly held (orientation) • Is the part slipping TACTILE – simple touch sensing, binary? OR – continuous-variable sensing of force in an array to produce skin-like sensing
- 13. Proximity rod tactile sensors • Array of rods move down towards the object kept on a table • Each sensor is monitored for contact (binary) • Improvement is made by finding distance travelled before making contact • Provides gray level information of object and can provide three-dimensional image of the object • To avoid false deflections, the table top may be vibrated and readings taken after all the rods start vibrating.
- 14. Proximity rod tactile sensors
- 17. Conductive Elastomer Sensor ACS – Anisotropically Conductive Silicon Rubber
- 22. Ultrasonic Hybrid Tactile Sensor
- 23. VLSI-conductive elastomer tactile sensor
- 25. Arc Welding Seam Tracking Sensor
- 26. Optical sensor for seam tracking
- 27. Passive Seam Tracking Sensor