Višenamenski integrisani senzor sile i pomeraja

Abstract

U doktorskoj disertaciji razmatra se merenje sile i pomeraja pomoću senzora koji mogu da se integrišu u već postojeće elemente na robotskim i industrijskim sistemima. Sila se meri merenjem deformacije elastičnog elementa. Za merenje pomeraja postignuto je na dva načina: optičkom komponentom i induktivnom strukturom izrađenom štampanjem na fleksibilnoj foliji i njenim odgovarajućim sečenjem. Merenje sile demonstrirano je na primeru klatna sa bazom kod kojeg se meri sila kontakta sa podlogom, a merenje pomeraja je pokazano na primeru merenja vibracija. Sistem za merenje vibracija dopunjen je i sistemom za automatsko podešavanje radne tačke koji se može iskoristiti za automatsku kalibraciju.

In this thesis, measurement of force and displacement has been analyzed using sensors which can be embedded into existing elements of robotic and industrial systems. Force is measured by measuring the deformation of elastic elements. Two mehtods have been applied to displacement measurement: an optical component and an inductive structure fabricated by printing on flexible substrate and its subsequent cutting. Measurement of force has been demonstrated on a pendulum attached to its base, where the contact between the base and its support is measured. Displacement measurement has been shown by measuring vibration. The vibration measurement system is supplemented with an automatic operating point adjustment system which also adds an automatic calibration feature.