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razainno / Design-of-Optoelectronics-Based-Force-Sensor

Sensors are widely used in many kinds of robotics systems for controlling, op- timizing, and monitoring the operation and the performance. They measure a large number of useful physical parameters. Among these, force and torque are primary measurements. This work presents a complete design and implementa- tion of the uni-axis force sensor. This force sensor is based on an optoelectronic sensor which is known as a light fork. This design can be used for various robotics applications to measure the force. The simplicity of design and its low cost, make it more feasible to measure the force applied by different robots by the deformation of a properly designed mechanical structure integrated into the actuation module. This force sensor provides good linearity and sensitivity for the applied force. The work contains the complete scheme of electronics schematics with PCB design. The electronics design contains the STM32f405 microcontroller, which has internal memory to save the calibration data. The mechanical design is also described in this work with proper dimension and length to construct the obstacle and case of the sensor. The design of the sen- sor can be modified for calibration and integration with the robotics module. The methodology of this work describes the basic working principle and also a proper mechanism to measure the force applied on the top surface of the sensor with the arrangement of four optoelectronics sensors.

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Force-sensor Design

The following step for the design of the sensor has been completed.

1. Mechanical design of sensor prototype has been done in solid work with following component and printed

2. electrical protype using four opto sensor is the following

3. Raw data reading

When obstacle inturrupt the path of from four sensors and voltage decreased, these vlaue with help of Adc has been converted into digital value and feed into raspberry pi for process where we can read the Raw data

4. Save the data for different weight (0kg ,0.5kg, 1.25kg, 1.75kg

Different value of the weight has been put n the sensor and value for the voltage has been save for all four sensors

5. Calculation of the weights for using least square method

AS we now that at statring point the there is no value for the sensor voltage because no for force has been applied form equation F=V1xw1+V2xw2+V3xw3+V4xw4, the weight(w1,w2,w3,w4) has been calculated using least square method

6. Calculation of the force using above calculated weights

after callculation of the weight of the force can been calculated with eqaution F=V1xw1+V2xw2+V3xw3+V4xw4

7. Test the sensor for applying different force

Applying random force and following result for calibrated sensor has been produced.

## 8. PCB Board design The whole design is created in Altium designer output can be seen below in images

The 3d View of the pscb board is shown below

8. Calibation results and comparison with Futek sensor

Results are shown in following figure:

Second experiment

About

Sensors are widely used in many kinds of robotics systems for controlling, op- timizing, and monitoring the operation and the performance. They measure a large number of useful physical parameters. Among these, force and torque are primary measurements. This work presents a complete design and implementa- tion of the uni-axis force sensor. This force sensor is based on an optoelectronic sensor which is known as a light fork. This design can be used for various robotics applications to measure the force. The simplicity of design and its low cost, make it more feasible to measure the force applied by different robots by the deformation of a properly designed mechanical structure integrated into the actuation module. This force sensor provides good linearity and sensitivity for the applied force. The work contains the complete scheme of electronics schematics with PCB design. The electronics design contains the STM32f405 microcontroller, which has internal memory to save the calibration data. The mechanical design is also described in this work with proper dimension and length to construct the obstacle and case of the sensor. The design of the sen- sor can be modified for calibration and integration with the robotics module. The methodology of this work describes the basic working principle and also a proper mechanism to measure the force applied on the top surface of the sensor with the arrangement of four optoelectronics sensors.

latexleast-squaresoptoelectronicspcb-designpythonrasperrypiresearchschematicssensors-data-collectionsolidworks

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