SENSORS

MECHATRONICS
STATE UNIVERSITY OF MALANG
DEFINITION
A device or transducer that detects
information about the robot and its
surroundings, and transmits it to the robots
controller.
FUNCTION OF SENSORS
Detect positions and orientation of parts
Ensure consistent product quality
Discover variations of shape and dimensions
of parts
Identify unknown obstacles
Determine and analyze system malfunctions
SENSOR CLASSIFICATION
(interest in manufacturing)
Mechanical for measuring quantities: position,
shape, velocity, force, torque, pressure, vibration,
strain, mass.
Electrical for measuring voltage, current, change,
conductivity.
Magnetic for measuring magnetic field, flux,
permeability.
Thermal for measuring temperature, flux,
conductivity, specific heat
Others: acoustic, proximity, chemical, photoelectric,
radiation, lasers, optical systems (fiber optic and
LED), tactile, voice, visual sensing.
SENSOR CLASSIFICATION
(location and type of detection - 1)
Internal use feedback information internally
to ascertain their present condition
Shaft encoder
Direct-readout encoder/absolut-readout
encoder
Strain gauges
Potentiometers
Shaft Encoder
SENSOR CLASSIFICATION
(location and type of detection - 2)
External physically mounted on the robot or
on process equipment in the robot cell so that
they can be visually seen.
Microswitches
Tactile sensors
Photoelectric devices
Proximity sensors
SENSOR CLASSIFICATION
(physical activation - 1)
Contact sensors physically touch an object
before the sensor is activated.
Microswitches
Tactile sensors
SENSOR CLASSIFICATION
(physical activation - 2)
Noncontact sensors measure the condition
of an object without physically touching the
part.
Measure a point of response
Measure proximity
Measure the presence of an object photoelectric
device
Give a spatial array of measurements at
neighboring points of information.
Vision system
Ultrasonic sensor
SENSOR CLASSIFICATION
(output)
Discrete/digital sensors
Two states on/off, yes/no, high/low, 1/0
Complex sensors
More than two states
Analog sensors & serial communication sensors