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Lesson 2

The document discusses various power generation, storage, and sensing systems used in robots. It describes how solar cells and fuel cells can generate power, and how rechargeable batteries can store significant amounts of energy. It then explains different types of sensors like simple switches, force sensors, gyroscopes, potentiometers, encoders, tachometers, cameras, and proximity sensors that robots use to detect and measure their environment. Electronics components like A/D and D/A converters are also mentioned for converting analog and digital signals.

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Ampatu Isha
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9 views6 pages

Lesson 2

The document discusses various power generation, storage, and sensing systems used in robots. It describes how solar cells and fuel cells can generate power, and how rechargeable batteries can store significant amounts of energy. It then explains different types of sensors like simple switches, force sensors, gyroscopes, potentiometers, encoders, tachometers, cameras, and proximity sensors that robots use to detect and measure their environment. Electronics components like A/D and D/A converters are also mentioned for converting analog and digital signals.

Uploaded by

Ampatu Isha
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 6

3.

4 Power generation and storage system

Solar cells are working on the moon or in space since we need renewable
energy for example sun light. Fuel cells are used in a big heavy robot so a
diesel engine is required and fuel to run it, these engines power is based on
hydrogen and oxygen burning. Rechargeable cells are more in use nowadays
due to the technology advancements means that rechargeable cells can
contain quite a lot of energy for example: batteries that are in use in mobile
phones they can last long time.

3.5 Sensors

Simple switch sensors are used to turn on and off the whole cycle or some part
of the cycle.

Picture: Picture 3.14 Simple switch


(http://atmac.org/simple-switch-scanning-and-voice-output-in-ms-word-2004-for-os-x)

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Picture 3.15 Simple circle with simple switch
(http://www.rcgroups.com/forums/showthread.php?t=1214239)

Force sensor is to measure and control the force power applied. These are mostly
in use in the robot end-effectors to measure how strong the grip should be so it
does not smash work pieces. They are different models with different
applications for example variable force control, load and compression sensing,
pumps, contact sensing, weighing and household appliances.

Picture 3.16Force sensor


(http://www.meas-spec.com/product/t_product.aspx?id=2442)

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Gyroscopes: Is a device for measuring and maintaining orientation, based on the
principles of momentum. In essence, a mechanical gyroscope is a spinning wheel
or disc whose axle is free to take any orientation. Although this orientation does
not remain fixed, it changes in response to an external torque much less and in a
different direction than it would without the large angular momentum associated
with the disk's high rate of spin and moment (Wikipedia).

Picture 3.17 Gyroscope


(http://www.ifixit.com/Teardown/iPhone-4-Gyroscope-Teardown/3156/1)

Potentiometer has the same task like encoder but uses different method for
measuring degree of rotation, it convert the analogue voltage value from 0 - 10
volt to digital signal bit, which give how many degree of rotation in the motor
drive. In picture 3.18 a potentiometer is mounted at the gear motor which enables
the DC motor controller to measure the position of the axle.

Picture 3.18: Servo motor with Potentiometer


(http://www.wahlberg.dk/Products/Motion/Motors/tabid/166/CategoryID)

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Digital rotary Encoder is for measuring rotating degree of a shaft by using lines
which define the degrees of rotation and to give the position of a shaft. On other
way we can say the same work like potentiometer, but they are using different
method for measuring degree of rotation (Paul 2003, 80).

Picture 3.19 Wheel encoder circle


(http://www.alanmacek.com/robot/)

Picture 3.20 Wheel encoder


(http://www.alanmacek.com/robot/)

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Tachometer Essentially is a generator. Depending on the velocity of the shaft,
you get certain amount of voltage output and this amount is measured by
tachometer to give us visual feedback about the motor state. It is used for
controlling and adjusting. Sometimes tachometer information is obtained from
an encoder. (Paul 2003 88)

Picture 3.21 Tachometer Picture 3.22 Digital tachometer


(http://www.freeclipartnow.com/transportat (http://www.auberins.com/index.php?main_pa
ion/cars/parts/tachometer.jpg.html) ge=index&cPath=16)

Cameras are used to locate object in the robot environment. They are equal for
vision system in human.

Picture 3.23 Vision system in robot


(http://www.robotshop.com/blog/robot-kits/page/2)

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Proximity sensors: A sensor is able to detect or recognize the presence of close
objects without any physical contact with them; there are different types of these
sensors which are mechanical or infrared by using light. A proximity sensor often
emits an electromagnetic force or a beam of electromagnetic radiation (for
instance infrared), and looks for changes in the field by reading the return signal.
The object being sensed is often referred to as the proximity sensor's target.
Different proximity sensor targets demand different sensors. For example, a
capacitive or photoelectric sensor might be suitable for a plastic target; an
inductive proximity sensor requires a metal target. (Robert H 2006, 126)

Picture 3.24 Proximity sensor from Omron


(http://www.omron-ap.com/product_info/E2FM/index.asp)

3.6 Electronics

A to D converter and D to A converter: these converters convert analogue signal


to digital signal by converting 0- 12V into single 8 byte or vice versa (Robert
2006, 46).

Picture 3.25 DA CONVERTER


(http://esoteric.teac.com/dacs/d-01/)

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