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    Lecture-2 Sensors and Actuators

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    Deepak Tendolkar
    Sensors and actuators are important components in robotics that allow robots to sense their environment and perform physical actions. Sensors can be internal, to detect conditions inside the robot, or external, to detect the outside world. Common sensors include proximity, tactile, and vision sensors. Actuators are components that move or control mechanisms, such as stepper motors, servo motors, pneumatic actuators, and hydraulic actuators. Proper selection and use of sensors and actuators are essential for robots to operate safely and complete tasks.

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    Lecture-2 Sensors and Actuators

    Uploaded by

    Deepak Tendolkar
    141 views39 pages
    Sensors and actuators are important components in robotics that allow robots to sense their environment and perform physical actions. Sensors can be internal, to detect conditions inside the robot, or external, to detect the outside world. Common sensors include proximity, tactile, and vision sensors. Actuators are components that move or control mechanisms, such as stepper motors, servo motors, pneumatic actuators, and hydraulic actuators. Proper selection and use of sensors and actuators are essential for robots to operate safely and complete tasks.

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    Sensors and actuators are important components in robotics that allow robots to sense their environment and perform physical actions. Sensors can be internal, to detect conditions inside the robot, or external, to detect the outside world. Common sensors include proximity, tactile, and vision sensors. Actuators are components that move or control mechanisms, such as stepper motors, servo motors, pneumatic actuators, and hydraulic actuators. Proper selection and use of sensors and actuators are essential for robots to operate safely and complete tasks.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    141 views39 pages

    Lecture-2 Sensors and Actuators

    Uploaded by

    Deepak Tendolkar
    Sensors and actuators are important components in robotics that allow robots to sense their environment and perform physical actions. Sensors can be internal, to detect conditions inside the robot, or external, to detect the outside world. Common sensors include proximity, tactile, and vision sensors. Actuators are components that move or control mechanisms, such as stepper motors, servo motors, pneumatic actuators, and hydraulic actuators. Proper selection and use of sensors and actuators are essential for robots to operate safely and complete tasks.

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    © All Rights Reserved
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    of 39

    L2- ROBOTICS (3102T)

    SENSORS AND
    ACTUATORS
    Dr. A. S. Rao
    Technical Excellence Centre
    Department of Mechanical Engineering
    Veermata Jijabai Technological Institute
    Mumbai-400019
    Introduction

    Sensing is a method of obtaining information about the


    properties of any object with or without coming into physical
    contact with it. Sensing is one of the most amazing feature
    of a robot this makes the robot able to detect the objects or
    to create a map of its surroundings using different sensing
    tools. Many sensing devices for different purposes is used
    by the robotic systems, in the broadest definition, a sensor
    is an object whose purpose is to detect events or changes
    in its environment, and then provide a corresponding
    output.
    The Role of Sensors

    Humans adapt to changes in their environment in part by


    using sensors to detect what is going on in their
    environment. The ability to particular surroundings is one
    definition of intelligence.

    Adding sensors to industrial robots could greatly


    expand their versatility. Sensors can furnish a robot with
    information about its own condition and position, along
    with information about the outside world.
    Why we use Sensors in Robotics?

    Safe operation – Protect human worker work in vicinity of


    the robot.

    Interlocking – Coordinate sequence of operation.

    Inspection – Essential for quality control

    Part configuration – Pose of the part in welding before


    starting welding
    Sensitivity

    The sensitivity is defined as the ratio between


    output signal and measured property. “A
    sensor's sensitivity indicates how much the
    sensor's output changes when the input
    quantity being measured changes”.
    Classification of sensors

    Basic types of sensors are as follows :

    Types of sensors based on their setup are :

    1. Internal sensors 2. External sensors

    Some other sensors are as follows :

    1. Environment sensors 2. Position sensors

    3. Velocity and acceleration sensors 4. Force sensors

    5. Proximity sensors 6. Touch and slip sensors

    Types of sensors based on their working are :

    1. Active sensors 2. Passive sensors


    Internal sensors

    Internal sensors are fixed internally and used to detect the


    required task. They observe the environment internally and
    detect any change in variables of the manipulator. These
    are responsible for the internal working of the robot.
    Internal sensors can be either digital or analog. Digital
    measurement of position and velocity is generally done
    through the use of encoders.
    Example : A common analog internal sensor is the
    potentiometer, which is based on a resistance that
    changes according to the arm deflection. As the position of
    the joint changes, the position of the arm also changes.
    The voltage associated with the resistance is measured,
    and can be used for both linear and rotary joints.

    Three main internal sensors are :

    1. Velocity sensors

    2. Torque and acceleration sensors

    3. Displacement sensors.
    External sensors

    External sensors allow robots to perceive the world in


    which they operate. Robots require all objects to be
    exactly located, the environment to be carefully monitored.
    Their joint movements to be extremely accurate, external
    sensors are used to detect the required task.
    Three main external sensors are :

    1. Proximity sensors

    2. Tactile sensors

    3. Vision sensors
    Proximity Sensor

    A proximity sensor detects an object when the object


    approaches within the detection range and boundary of
    the sensor.

    Types of Proximity Sensors


    • Inductive Proximity Sensor

    • Capacitive Proximity Sensor

    • Ultrasonic Proximity Sensor

    • Optical Proximity Sensor


    Inductive Proximity Sensor

    ● An Inductive proximity sensor is an electronic


    proximity sensor , which detect metallic object
    without touching them.

    ● Their operating principle is based on a coil and high


    frequency oscillator that creates a magnetic field in
    the close surrounding of the sensing surface .
    Construction and Working
    ● Main Components - Coil, Oscillator, Detector, Output Circuit.
    ● The coil generates the high frequency magnetic field in front of
    the face. When the metallic target comes in this magnetic field it
    absorbs some of the energy.
    Advantages

    ● They are very accurate compared to other


    technologies.
    ● Have high switching rate.
    ● Can work in harsh environmental conditions.

    Disadvantages

    ● It can detect only metallic target.


    ● Operating range may be limited.
    Capacitive Proximity Sensor

    ● Capacitive sensor are non contact detection type sensor


    used to detect Metallic and Non metallic objects (Liquid,
    Plastic, Wooden materials)

    ● Capacitive Proximity Sensors Use The Variation Of


    Capacitance Between The Sensor And Object Being
    Detected.
    Construction and Working

    ● Main Components - Plate, Oscillator, Threshold Detector


    And Output Circuit.

    ● The plate inside the sensor acts as one plate of the


    capacitor and the target acts as another plate and the air
    acts as the dielectric between the plates.

    ● The Capacitive Sensor can detect any targets whose


    dielectric constant is more than air.
    Advantages
    ● It can detect both metallic and non metallic targets.
    ● Good stability
    ● High Speed
    ● Capacitive sensors are good in terms of power usage
    ● Low cost

    Disadvantages
    ● They are affected by temperature and humidity
    ● Difficulties in designing
    ● Capacitive proximity sensors are not as accurate
    ● compare to inductive sensors.
    Optical Sensor

    The proximity of the object is detected by the action


    of the travelling light .
    Advantages

    ● High sensitivity.
    ● Chemically inert.
    ● Small and lightweight.
    ● Suitable for remote sensing.

    Disadvantages

    ● Susceptible to interference from environmental effects.


    ● Can be costly.
    Ultrasonic Sensor

    ● Ultrasonic Sensor are some type used in place of


    optical sensors. Instead of using an light beam, a high
    frequency sound wave is used.

    ● An ultrasonic sensor is as sensor which measures the


    distance of respective object by sending the sound
    wave of specific frequency.
    Working
    Advantages
    ● Ultrasonic proximity sensors are not affected by
    atmospheric dust, snow, rain..etc
    ● Can work in adverse conditions
    ● Sensing distance is more compared to inductive or
    capacitive proximity sensors

    Disadvantages
    ● Ultrasonic sensors Has More Difficulties Reading
    Reflections From Soft, Curved, Thin Or Small Objects.
    Tactile Sensor
    A tactile sensor is a device that measures information
    arising from physical interaction with its environment. It
    Senses deformation of bodies (strain) or fields (electric
    or magnetic).
    Capacitive Sensing Element
    Mechanical deformation changes the capacitance of parallel
    conducting plates.
    Main application area: Touchscreens.

    Advantages: Good dynamic range, linearity.

    Disadvantages: Noise, measuring

    capacitance is hard.
    Applications
    Actuators

    An actuator is a component of a machine that


    is responsible for moving and controlling a
    mechanism or system, for example by opening
    a valve. In simple terms, it is a "mover".
    Types of Actuators

    1. Electrical actuators : Stepper motors, DC Servo


    motors

    1. Pneumatic actuators : Air Pressure

    (Use compressed air as the driving force)

    1. Hydraulic actuators : Fluid Pressure

    (Use hydraulic fluid to amplify the controller


    command signal).
    Stepper Motor

    Figure - Three phase permanent magnet stepper motor


    Stepper Motor

    Stepper motors are multi pole motors that


    advance their rotor by one pole for each voltage
    pulse they receive. Figure shows a cross section
    of a three phase windings. The rotor in figure is
    shown after the phase A winding has been
    activated. Residual magnetism is usually sufficient
    to hold the rotor in this position after the phase A
    winding is deactivated, although the winding can
    be kept activated to increase the holding force, if
    necessary.
    Stepper Motor

    If the phase B winding is activated next, the


    rotor will turn counter clockwise to align with the B
    stator poles. (The counterclockwise direction of
    movement is due to the fact that the rotor pole at stator
    pole A.) If the phase winding are alternately activated
    in the sequence A,B,C,A,B,C,......, the rotor will rotate
    counterclockwise. If instead the phase windings are
    alternately activated in the sequence A,C,B,A,C,B,.....,
    the rotor will rotate clockwise.

    https://www.youtube.com/watch?v=eyqwLiowZiU
    Video 2-1:

    Stepper Motor
    Servo Motor

    A servo motor is an electrical device which can push or


    rotate an object with great precision. If you want to rotate
    an object at some specific angles or distance, then you
    use servo motor. It is just made up of simple motor which
    run through servo mechanism. If motor is used is DC
    powered then it is called DC servo motor, and if it is AC
    powered motor then it is called AC servo motor. We can
    get a very high torque servo motor in a small and
    lightweight packages. Due to these features they are being
    used in many applications like toy car, RC helicopters and
    planes, Robotics, Machine etc.
    Working Principle of Servo Motor
    A servo consists of a Motor (DC or AC), a potentiometer,
    gear assembly and a controlling circuit. First of all we use
    gear assembly to reduce RPM and to increase torque of
    motor. Say at initial position of servo motor shaft, the
    position of the potentiometer knob is such that there is no
    electrical signal generated at the output port of the
    potentiometer. Now an electrical signal is given to another
    input terminal of the error detector amplifier. Now
    difference between these two signals, one comes from
    potentiometer and another comes from other source, will
    be processed in feedback mechanism and output will be
    provided in term of error signal.
    This error signal acts as the input for motor and motor
    starts rotating. Now motor shaft is connected with
    potentiometer and as motor rotates so the potentiometer
    and it will generate a signal. So as the potentiometer
    angular position changes, its output feedback signal
    changes. After sometime the position of potentiometer
    reaches at a position that the output of potentiometer is
    same as external signal provided. At this condition,
    there will be no output signal from the amplifier to the
    motor input as there is no difference between external
    applied signal and the signal generated at
    potentiometer, and in this situation motor stops rotating.
    Working Principle of DC Servo Motor
    Controlling of Servo Motor
    Position control using Pulse Width Modulation technique.

    The width of the pulse applied to the motor is varied and send for a fixed
    amount of time.

    The pulse width determines the angular position of the servo motor.

    For example - A pulse width of 1 ms - a angular position of 0 degrees.

    A pulse width of 2 ms - a angular position of 180 degrees.


    Video 2-2:

    Servo Motor Video


    Thank You

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