razainno / design-of-optoelectronics-based-force-sensor Goto Github PK

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.