PCRUT205 - SENSOR
TECHNOLOGY FOR ROBOTICS
MODULE -2
Module -2
Transducers and sensors: -Static and Dynamic Characteristics,
Classification of sensors, Robotic Sensors
Proximity sensor- Eddy current proximity sensor, Inductive Proximity
sensor, Capacitive Proximity sensor,
Force Sensor, Piezoelectric Sensor, Tactile sensor- Touch Sensor/Contact
Sensor.
Proximity sensor
▪ A proximity sensor detects an object presence, when the objects approaches
within the detection range or boundary of the sensor.
▪ Proximity sensors perform non contact detection. Limit switches detects the
object by physical contact.
▪ Proximity sensors are used in robotics for obstacle avoidance. Presence and
absences of metallic and non-metallic objects in manufacturing industries.
▪ Methods include: Inductive, Capacitive, Eddy current, Ultrasonic, Optical
methods.
Eddy current
▪ An eddy current is a loop of electrical current induced
within a conductor (like metal) when it's exposed to a
changing magnetic field, creating circular currents in
planes perpendicular to the field, similar to water
eddies.
▪ These currents arise from Faraday's Law of Induction
and can be generated by a conductor moving through
a magnetic field or by a varying magnetic field around
a stationary conductor, leading to effects like magnetic
braking, induction heating, and non-destructive
testing.
Eddy current proximity sensor
▪ Eddy current sensor is generally called gap sensor.
▪ If a conducting (i.e., low-resistivity) medium is subjected to a fluctuating
magnetic field, eddy currents are generated in the medium.
▪ The strength of eddy currents increases with the strength of the magnetic
field and the frequency of the magnetic flux. This principle is used in eddy
current proximity sensors.
▪ A conducting target object is needed, However even thin film of conducting
material, such as household aluminum foil glued to a nonconducting target
object, would be adequate.
Eddy current proximity sensor
▪ When the coil is supplied with an alternating current, an alternating magnetic field
will be produced.
▪ When a metal object in close proximity to this alternating magnetic field, then eddy
currents are induced in it.
▪ The eddy currents themselves produce a magnetic field. This distorts the magnetic
field responsible for their production
▪ As a result, the impedance of the coil changes and so does the amplitude of the
alternating current.
▪ At some preset level, this change can be used to trigger a switch
Capacitive Proximity Sensors
▪ A capacitive proximity sensor detects both metallic and non metallic
objects.
▪ Capacitive proximity sensors detect changes in the capacitance between the
sensing object and the sensor.
▪ Capacitive proximity sensor classified to dielectric type and conductive type.
▪ In conductive type: One of the plates is the object being measured (with an
imaginary ground), and the other is the Sensor’s sensing surface.
Capacitive Proximity Sensors – Conductive type
▪ Conductive type capacitive proximity sensors detect only metallic objects.
▪ The gap between the sensors acts as the dielectric.
▪ The sensor plate is connected to an oscillator circuit whose amplitude depends on
the capacitance value.
▪ As the distance between the sensor and object decreases the capacitance
increases and the resulting oscillator amplitude increases.
Capacitive Proximity Sensors – Dielectric type
▪ The sensor has two parallel plates inside the sensor, and acts as an open capacitor.
▪ When an object comes near the sensing surface, it enters the electrostatic field of
the electrodes and changes the dielectric constant and hence the capacitance of
the oscillator.
▪ As the objects move closer to the sensor the capacitance increases and the
resulting oscillator amplitude increases.
Inductive Proximity Sensors
It consist of four basic elements:
Sensor coil and ferrite core
Oscillator circuit
Detector circuit
Solid-state output circuit
The sensing range of an inductive proximity sensor refers to
the distance between the sensor face and the target.
The usual range is up to 10-15 mm but some sensors have
ranges as high as 100 mm.
Inductive Proximity Sensors
■ The oscillator circuit generates a radio-frequency electromagnetic field.
■ The field is centered around the axis of the ferrite core, which shapes the field and
directs it at the sensor face.
■ When a metal target comes in the magnetic field, it absorbs some of the energy.
This results in a loading or damping effect that causes a reduction in amplitude of
the oscillator signal.
■ The detector circuit detects the change in the oscillator amplitude. The detector
circuit will 'switch on' at specific operating amplitude. This signal 'turns on' the
solid-state output circuit.
Inductive Proximity Sensors
■ Self inductance and mutual inductance type proximity sensors
Mutual Inductance type Proximity Sensor
Inductive Proximity Sensors- Application
▪ Position Sensing: Detecting if a metal part is in place or at the end of a
stroke (e.g., on a machine tool).
▪ Counting & Presence Detection: Counting metal cans on a conveyor,
confirming a metal component is present.
▪ Speed Monitoring: Monitoring the rotation of metal gears or shafts.
▪ Quality Control: Checking for thickness, shape, or surface defects in
metal components during manufacturing.
▪ Robotics: Confirming gripper positions or detecting parts.
▪ Harsh Environments: Operating in dirty, oily, or wet conditions because
they only react to metal, not dirt, liquids, or plastics.