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Chapter 8 Actuators and Sensors For Robots

This document discusses the design of actuators, sensors, and end effectors for robotic systems. It describes common types of actuators like hydraulic, pneumatic, electric motors and their advantages and disadvantages. It also covers various internal and external sensors used in robotics like position, velocity, force, proximity sensors and their operating principles.

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Siferaw Negash
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486 views39 pages

Chapter 8 Actuators and Sensors For Robots

This document discusses the design of actuators, sensors, and end effectors for robotic systems. It describes common types of actuators like hydraulic, pneumatic, electric motors and their advantages and disadvantages. It also covers various internal and external sensors used in robotics like position, velocity, force, proximity sensors and their operating principles.

Uploaded by

Siferaw Negash
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Chapter 3

Design
Contents
• Actuators,
• Internal state sensors,
• External state sensors,
• End effectors,
• Mechanical arrangement and specification:
PUMA 500 series
Actuators and sensors
• Actuators in robotic systems are used to move
the joints
• Joint actuators can be
– Hydraulic actuators
– Pneumatic actuators
– Electric actuators
Hydraulic actuators
• Are actuators which use oil pressure
• Can produce large force/torque to drive
manipulator joints without used of reduction
gearing – large power-to-weight ration
• Are easily applied for position control
• Their disadvantage is
– Are cumbersome and messy
– Require a great deal of equipments such as pumps,
actuators, hoses, and servo valves
Hydraulic actuators
• linear movement
• big forces without gears
• actuators are simple
• in mobile machines
• Bad efficiency
• motor, pump, actuator combination is lighter
than motor, generator, battery, motor & gear
combination

5
Hydraulic actuators
Hydraulic actuators
• Disadvantage
– friction of seals, leakage, viscosity of oil, and
complex temperature dependent of the oil – not
suitable for accurate position/torque control
– Not clean
Pneumatic actuators
• Are actuators which are based on pressure
• Air or other fluid is used
• Are relatively cleaner
• Share all disadvantage of hydraulic actuators
Electric motors
• Most popular choice
• Easy to control and are clean
• Used for small to medium sized robotic
manipulators
• Need reduction gears of high ratio
– Linearizes the dynamics
– Increases the friction, elasticity and backlash
Types of electric motors used in robotic
manipulators
• AC motor
• DC motor
• Stepper motor
• Other devices such as solenoid
DC motor

• simple, cheap
• easy to control
• 1W - 1kW
• can be overloaded
• brushes wear
• limited overloading
on high speeds

11
DC-motor control
• Controller + H-bridge
• PWM-control
• Speed control by
controlling motor
current=torque
• Efficient small
components
• PID control
H-bridge
H-bridge operation
H-Bridge
• Hardware Implementation with
Microcontroller:
• 2 Digital output pins from microcontroller,
[one at Gnd, one at Vcc] feed into a power
amplifier

• Alternative: use only 1 digital output pin plus


one inverter, then feed into a power amplifier
Brushless DC-Motors
(pm synchronous motor)

• no brushes  no wearing parts  high speeds


• coils on cover => better cooling
• excellent power/weight ratio
• simple
• needs both speed and angle feedback
• more complicated controller
• From small to medium power (10W – 50kW)

16
Asynchronous Motors
• very simple, very popular in industry
• 0,5kW - 500kW
• More difficult to control (frequency)
• nowadays as accurate control as DC-motors
• In mobile machines also (5kW )

17
Synchronous Motors
• usually big 100 kW - XXMW
• also small ones ~ brushless DC-motors from
50W to 100 kW
• controlled like as-motors (frequency)
• ships
• industry
• Mobile machines

18
Reluctance (Stepper) Motors
• angle control
• slow
• usually no feedback used
• accurate positioning
• with out feedback not servos
• easy to control

19
Stepper Motors
• Stepper motors are another kind of motors that do not require feedback

• A stepper motor can be incrementally driven, one step at a time, forward or


backward

• Stepper motor characteristics are:


– Number of steps per revolution (e.g. 200 steps per revolution = 1.8° per
step)
– Max. number of steps per second (“stepping rate” = max speed)

• Driving a stepper motor requires a 4 step switching sequence for full-step


mode

• Stepper motors can also be driven in 8 step switching sequence for half-step
mode (higher resolution)

• Step sequence can be very fast, the the resulting motion appears to be very
smooth
Operation principle of stepper motor

• Diagram of a 30 degree/step stepper motor

• Energizing sequence -
– A-B-C-A Anti-clockwise rotation
– A-C-B-A clockwise rotation
Connecting stepper motor winding to a
microcontroller or microprocessor
• Circuit diagram of a uni-polar driving
Other Actuators
• piezoelectric
• magnetic
• ultra sound
• SMA
• inertial

Jussi Suomela HUT/Automation 23


Sensors and detectors
• Sensors are used to supply information to the
robotic control system
• Sensors
– Provide information about the status of links and
joints
– Provide information about the environment
Status sensors
• Is primary use of sensors
• They are basic elements in the internal closed loop
control of the robot
• Sense
– Position
– Velocity
– Acceleration
– Torque/force in joints
• Degree of resolution and accuracy of status sensors
determine the accuracy of the robot
Environmental sensors
• Provide information about the objects in the
surrounding
– Detect presence of work piece
– Determine position and orientation of work piece
– Provide information about environmental
variables such as temperature, humidity
• Information is used by the control computer
to adapt trajectory
Types of status sensors
• The most common types of status sensors are
– Potentiometers
– Tachometers
– Optical encoders
– Micro switch
Environmental sensor types
• Contact type sensors
– Pressure
– Force
– Slip
– Torque
• Non contact type sensors
– Vision
– Optical, acoustic
– IR and proximity switches
– temperature and chemical sensors
Position sensors
• Potentiometers
– Are variable resistance devices
– Change in length(linear or angular) varies the effective
length of the conductor and hence resistance of the
device
• optical encoder
– Converts motion into a sequence of digital pulses
– By counting a single bit or decoding a set of bits, the
pulses can be converted to absolute or relative
position
• Optical encoder
Position sensors
• Absolute
– A single bit corresponds to a unique position
– Have a number of tracks
– The number of tracks determine the bit width and hence
the resolution
– Example: 8 track encoder, degree to be sensed is 360/256
• Incremental encoder
– Produce digital pulses as the shaft rotates
– Has two tracks in opposite directions
– The phase sequence between the channels determine
the direction of rotation
• Absolute encoder
• Decoding the output of an incremental
encoder
Velocity sensors
• Tacho generators
– Produce a voltage proportional to speed of
rotation of a shaft
– Used with dc motors to sense speed of rotation
– Have very big voltage outputs
– Used for feedback control of DC motors
Acceleration sensors
• Accelerometer
– measure acceleration
– Use force sensor and mass and then apply
Newton’s second law
– Not common in robotics because of noise effect
Proximity sensors
• Are very common and useful in robotics and
automated machinery applications
– Inductive proximity sensors
• Induce magnetic field or eddy current into the target
• Sense the presence of ferric magnetic material
– Capacitive proximity sensors
• Sense presence of any material
– Photo electric proximity sensors
• Used in grippers to sense obstacles
Photo-reflector sensors
• Used for grippers in pick and place task

• When object is not reached, both sensors give high


output
• When object is at center of the two, both have low
output
• If one is high and other is low, object is not placed
correctly
Stress sensors
• Semiconductor strain gages
– Are piezoelectric materials such as crystalline
quartz
– When material is stressed a change in the
electronic charge across the faces of the crystal
occurs
– The change in the charge is sensed using various
circuits, Example- bridge circuit

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