ROBOTIC DESIGN

AIE351
Lec 5
Speed and
accelerometers sensors
for Robots
1
Overview: Sensors are crucial for robots to interact with their
environment. They provide essential data for navigation,
control, and decision-making.

Types of Sensors: Position, velocity, acceleration, and

orientation sensors are commonly used in robotics
Velocity sensors measure the speed of an object. They are
essential for controlling robot movements and maintaining
stability.
2
.
 Velocity Sensors

Types of Velocity Sensors:

Electromagnetic
Encoders Tachometers
velocity sensors

3
 Velocity Sensors
1.Encoders
• What is an encoder?
➢ Encoders are sensors that encode rotation angle and linear displacement.
➢ An encoder that detects rotation is called a rotary encoder, and an encoder that
detects linear displacement is called a linear encoder.
➢ In fact, because the rotary type is used in most cases, when people say simply
an encoder, it often refers to a rotary encoder.

4
 Velocity Sensors
1.Encoders
• An encoder is a sensor that detects rotation angle or linear displacement.
• Encoders are used in devices that need to operate in high speed and with high
accuracy.
• The method of controlling the motor rotation by detecting the motor rotation
speed and rotation angle using an encoder is called feedback control (closed
loop method).

5
 Velocity Sensors
1.Encoders
Encoders are crucial components in robotics,
providing essential feedback for motion control and
precision.
Role of Encoders in Robotics
1. Motion Control and Precision: Encoders ensure that
robots perform tasks with high accuracy by providing
real-time feedback on position, speed, and rotation.
This is vital for tasks like assembly, welding, and
material handling.

2. Feedback Mechanism: Encoders convert mechanical

motion into electrical signals, allowing control
systems to adjust movements precisely.

3. Applications: Widely used in industrial robots, 6

automated guided vehicles, and collaborative robots to
enhance efficiency and reduce errors
 Velocity Sensors
1.Encoders
Types of Encoders
Incremental Encoders: Provide relative position feedback by
counting pulses as the system moves. They are cost-effective but
require a reference point14.

Absolute Encoders: Offer absolute position feedback without

needing a reference point, making them more reliable in
applications requiring precise positioning14.

Rotary Encoders: Measure rotation and are commonly used in

robotics for controlling motor movements57.

Linear Encoders: Measure linear displacement and are used in 7

applications requiring precise linear motion control

 Velocity Sensors
2.Tachometer (optocoupler)
Definition: A tachometer is an instrument that
measures the speed at which a machine or engine
is rotating. It provides vital feedback for
controlling and monitoring machinery
performance.

Importance: Tachometers are crucial for

ensuring optimal operation and maintenance of
engines and motors, allowing for precise speed
8
regulation and performance monitoring.
 Velocity Sensors
2.Tachometer (optocoupler)
Working Mechanism
Input Signal Activation: When an electrical signal is
applied to the LED, it lights up. The intensity
of the emitted light is proportional to the input current.

Light Transmission: The emitted infrared light crosses an optical barrier (usually air or a
transparent material) that separates the input and output circuits.

Signal Detection: The photosensitive device detects the light and generates a
corresponding output current. This output current can then be amplified depending on the
design of the optocoupler.

9
Isolation: The optical coupling ensures that any high voltage or noise present in one
circuit does not affect the other circuit, providing safety and reliability in various
applications
 Velocity Sensors
2.Tachometer (optocoupler)
Working Principle
Tachometers operate by detecting the
frequency of rotation of a shaft or
disk. This is achieved through sensors
that convert mechanical movement
into electrical signals.

The electrical signals are processed to

calculate the RPM of the object being
measured.

10
 Velocity Sensors
2.Tachometer (optocoupler)

11
 Velocity Sensors
2.Tachometer (optocoupler)

12
 Velocity Sensors
2.Tachometer (optocoupler)
Applications
Tachometers are utilized across various industries and applications, including:
Automotive: Displaying engine crankshaft rotation speed in vehicles, aiding in
performance monitoring.

Industrial Machinery: Monitoring the speed of motors, turbines, conveyors, and

other rotating equipment to ensure efficient operation.

Medical Devices: Measuring blood flow rates in certain medical applications.

Research and Development: Used in laboratories for testing and measurement

purposes.

Maintenance Operations: Monitoring machinery health and performance during

13
routine inspections.
 Velocity Sensors
Working Principle
3. Electromagnetic velocity sensors

➢ Moving a magnet through a coil of wire will

induce a voltage in the coil according to
Faraday’s law. This voltage is proportional to
the magnet’s velocity and the field strength .

➢ The north pole of the magnet induces a current

in one coil, while the south pole induces a
current in the other coil. The two coils are
connected in a series opposite direction to
obtain an output proportional to the magnet’s
velocity.
➢ The output voltage of the coil is directly
proportional to the magnet’s relative velocity
over its working range
14
 Velocity Sensors
3. Electromagnetic velocity sensors

Components
1. Permanent Magnet or Electromagnet: Generates
the magnetic field necessary for induction.

2. Coil or Conductor: The moving part that cuts

through the magnetic field, inducing voltage.

3. Signal Conditioning Circuitry: Converts the

induced voltage into a usable format for
measurement and display.
15
 Velocity Sensors
3. Electromagnetic velocity sensors
Applications
Electromagnetic velocity sensors are widely used in various fields:

Industrial Automation: Monitoring the speed of conveyor belts,

motors, and rotating machinery to ensure optimal performance and
safety.

Automotive Systems: Measuring wheel speed, engine RPM, and

other critical parameters for vehicle control systems.

Robotics: Providing feedback for motion control in robotic arms and

automated systems.

Vibration Analysis: Used in monitoring equipment health by 16

measuring vibration velocities in rotating machinery.

 Velocity Sensors
3. Electromagnetic velocity sensors

17
 Accelerometer sensors
What are accelerometer sensors? Explanation of meaning and
definition

Accelerometer sensors are inertial sensors that measures the change

in velocity (acceleration) of an object over time. They are used in a
variety of applications, including automobiles, smartphones,
aircraft, industrial robots, and wearable devices.
.
they can detect the following.
Measures the inclination of a mainly stationary
Tilt
object by detecting the acceleration of gravity.
Detects the acceleration when an object is
Vibration
vibrating. 18

Detects the acceleration when an object

Impact
experiences an impact.
 Accelerometer sensors
Types of Accelerometers
There are several types of accelerometers, each with unique operating principles:

1. Piezoelectric Accelerometers: These sensors generate an electrical charge in response

to mechanical stress. They are particularly effective for measuring high-frequency
vibrations and impacts, making them suitable for applications like collision detection
in vehicles.

2. Capacitive Accelerometers: These work by measuring changes in capacitance as the

sensor experiences acceleration. They are often used in smartphones and other
compact devices due to their small size and efficiency.

3. Servo Accelerometers: Known for their low-frequency response, these accelerometers

are typically employed in seismic monitoring and structural analysis.

4. Frequency-change Accelerometers: These sensors detect changes in the resonant19

frequency of a structure when acceleration occurs, providing high precision and

stability
 Accelerometer sensors
Accelerometer sensors vs gyroscopes
Accelerometers
Accelerometers measure linear acceleration experienced by an object.
They detect acceleration when an object transitions between a stationary state and a moving state,
or changes direction or speed.
Specifically, they can detect the following:
Tilt
Vibration
Impact
Gyro sensors
Gyro sensors measure the rotational speed of an object.
Also known as "angular velocity sensors, they detect changes in the rotation angle per unit time.
This allows them to sense rotation direction, angle, and vibration.
They are used for:
Rotational vibration detection 20
Compensation for hand tremors
Attitude control
 Accelerometer sensors
Accelerometer sensors vs gyroscopes
Applications
Accelerometers are commonly used in consumer electronics (like
smartphones for screen orientation), automotive systems (for airbag
deployment), and industrial machinery (for vibration monitoring).

Gyroscopes are widely utilized in navigation systems (such as in

aircraft and drones), robotics (for maintaining balance), and
gaming devices (to track movement and orientation)

21
 Accelerometer sensors
Gyroscopes

MPU-6050

22
 Accelerometer sensors
Gyroscopes
MPU-6050
application

23
 Accelerometer sensors
Gyroscopes
The MPU-6050 is a widely
used Inertial Measurement
Unit (IMU) that integrates a 3-
axis accelerometer and a 3-axis
gyroscope, allowing it to
measure both linear
acceleration and angular
velocity.
The MPU-6050 utilizes
MEMS ( Micro-Electro-
Mechanical Systems)
technology, which involves
tiny mechanical structures that
can sense motion.

24
To be continued

25
Thank you

26