Module 9 : Robot Dynamics & controls
Lecture 31 : Robot dynamics equation (LE & NE methods) and examples

Micro-sensors

Accelerometer:

 

Device design has sensing method of strain gauge type. This is as shown below. Design calculations involved in these are, Finding dimensions and stresses by FEM (finite element method) analysis, Finding frequencies by Modal FEM, the consideration for thermal expansion and damping can be done by FEM and experimental verification.

 
Figure 31.8 Accelerometer
 

Sensing Methods :

Resistive sensing
 
Based on strain: accelerometers where resistance changes with strain
 
Based on temperature: where resistance changes with temperature
Capacitive sensing: accelerometers, pressure sensors
Bimetallic strips : which has strains as per the temperature changes
Thermocouple effect: This has voltage developed as per temperature effect.
Piezoelectric effect : This has charge developed as per strains in piezo
Using optics laser source and detectors
 
Diffraction effects: where the light diverges into wider angle
 
Interference effects : where the interference occurs with other waves.
 
Quadrature photo diodes: where the photodiodes output is fed to quadrature decoding arrangement.
 

More MEMS devices

Other micro-sensors:

 
Pressure sensor
 
Vibrating gyroscope
 
Bio-MEMS sensors: DNA chips, “lab on chip”
Micro actuators
 
Comb actuators, micro-motors
 
Thermal actuators
 
Piezo-actuators
Micro-gears, micro-engines
Micro-fluidic systems: Inkjet printers, drug delivery
Grating light valve (GLV display)
Digital optical switches
And many more Yet to come…
   
10