Djamiykov, Todor

Hecht, Sigmar

Marinov, Marin

Milushev , Mladen

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PROCEEDINGS            Faculty of Mechanical Engineering   ..........................................................................................  PROSPECTS IN MECHANICAL ENGINEERING  8 - 12 September 2008            www.tu-ilmenau.de     Home / Index: http://www.db-thueringen.de/servlets/DocumentServlet?id=17534 53. IWKInternationales Wissenschaftliches KolloquiumInternational Scientific ColloquiumPublished by Impressum  Publisher Der Rektor der Technischen Universität Ilmenau Herausgeber Univ.-Prof. Dr. rer. nat. habil. Dr. h. c. Prof. h. c. Peter Scharff  Editor Referat Marketing und Studentische Angelegenheiten Redaktion Andrea Schneider    Fakultät für Maschinenbau Univ.-Prof. Dr.-Ing. habil. Peter Kurz, Univ.-Prof. Dr.-Ing. habil. Rainer Grünwald, Univ.-Prof. Dr.-Ing. habil. Prof. h. c. Dr. h. c. mult. Gerd Jäger, Dr.-Ing Beate Schlütter, Dipl.-Ing. Silke Stauche  Editorial Deadline  17. August 2008 Redaktionsschluss  Publishing House Verlag ISLE, Betriebsstätte des ISLE e.V. Verlag Werner-von-Siemens-Str. 16, 98693 llmenau   CD-ROM-Version:  Implementation  Technische Universität Ilmenau Realisierung Christian Weigel, Helge Drumm  Production CDA Datenträger Albrechts GmbH, 98529 Suhl/Albrechts Herstellung  ISBN: 978-3-938843-40-6 (CD-ROM-Version)   Online-Version:  Implementation Universitätsbibliothek Ilmenau Realisierung  Postfach 10 05 65  98684 Ilmenau       © Technische Universität Ilmenau (Thür.) 2008  The content of the CD-ROM and online-documents are copyright protected by law. Der Inhalt der CD-ROM und die Online-Dokumente sind urheberrechtlich geschützt.   Home / Index: http://www.db-thueringen.de/servlets/DocumentServlet?id=17534 53rd Internationales Wissenschaftliches Kolloquium Technische Universität Ilmenau  08 – 12 September 2008  T. Djamiykov/ M. Milushev/ S. Hecht/ M. Marinov    A Sensor Component of a Walking Machine’s Joint   INTELLIGENT MECHANICS IN ROBOTICS  The sensor for measurement of the robot joint angles proposed in this paper, is an alternative of the well known potentiometric angle encoders, which are frequently used  for these purposes. The sensor is realized on the base of magnetic sensitive converter and thoroidal type permanent magnet with variable field with respect to the angular displacement (Fig.1). The precision of the measurements are required to be of 0.25 degrees maximum in the range of 0 to 62 degrees. In the same time, the sensor possesses light construction and easy embedment in the all system.  Fig. 1 The joint and the sensor Fig. 2 The stand    Experiments were carried out, in order to determine the optimal operational range (zone) of the sensor (Fig. 2).The supply (feeding, voltage) was chosen to be 5, 7 and 9 volts. Variation of the distance between the magnet and the hall effect element was chosen to be   0.5 mm, 1.0mm, 1.5mm and 2.0mm in the range of the angle variation between 0 and 180 degrees. Some experimental results are depicted in Fig. 3 with step 5 degrees. The linear character of the steady-state characteristic is not influenced by the supply variation. The longest linear sector of the transfer (transmission) characteristic and the least change of the sensitivity are observed when the distance is 1mm. Detailed investigation of the characteristics is performed for operating range of 70 degrees in the FEDiii...ZA...EIWKBHOMEinterval between 60 and 135 degrees for the all operating interval with step of one degree.   0123456789100 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180degreesOutput, V-0,0100,010,020,030,040,050,060,070,080,09Sensitivity, V/deg5v 7v 9v 5-sen 7-sen 9-sen012345660 65 70 75 80 85 90 95 100 105 110 115 120 125 130 135degreesOutput, V00,010,020,030,040,050,060,070,080,09Sensitivity, V/deg0,5mm 1,0mm sen-0,5 sen-1,0Fig. 3 Steady state characteristic and sensitivity for distance of 1,0mm Fig. 4 Steady-state characteristic and sensitivity for distance of 0,5 and 1,0 mm                                                                                    The results shown in Fig. 4, depict strong linearity in the chosen range and constant sensitivity. Little vacillations in sensitivity can be attributed to random errors which do not change the character of the characteristics. The measured mean square value of the noise voltage u is 2 mV. The experimental results show that the sensitivity of the sensor, in the case of operational conditions described above, is 30 mV/ . When 3u= 6 mV, the minimal angular discrimination is u 3 6mV.grad= =0,2 grad 30mV . In the range of 62 degrees for normal joint operation,   a 8 bits (62/0,25 =248)  A/D converter  is needed. Acknowledgement This work was supported by ––201/2006 Contract entitled “Research of a Modular Architecture for the Control of Mechatronic Elastic Multi-Link Devices”.   References:    [1] Ovcharov S., S. Vichev, V. Velikov, P. Jakimov, Protection Relays Static and Dynamic Testing, Proceedings of The Seventh Int. Conference ELECTRONICS’98, Book 3, pp. 108-113, 1998. [2] Litovski, V., S. Lazovic, Basic Electronics, Cuperac Plavi, Nis, 1996 (in Serbian). [3] Dikov, , S. Guergov, R. Dikov. Generalized Topological Model of the Dimensional Characteristics of Manipulation Subsystems of Industrial Robots with Open Kinematics Structure, 3rd International Conference “Research and Development in Mechanical Industry” RaDMI 2003, Herseg Novi, Montenegro Adriatic, 19-23 Sept., 2003 [4] Kerscher T.; Albiez, J. & Berns, K. (2002) Joint control of the six-legged robot AirBug driven by fluidic muscles. Proceedings of the Third International Workshop on Robot Motion and Control, Poland, 2002. [5] Weidemann, H.-J.; Pfeiffer, F. & Eltze, J. (2004) The six-legged TUM walking robot. Intelligent Robots and Systems (IROS), Volume 2, 2004, p.p. 1026-1033.  Authors:    Assoc. Prof. Mladen Milushev  Dr. Eng. Siegmar Hecht  Assoc. Prof. Marin Marinov  Assoc. Prof. Todor Djamiykov TU-Sofia, Department of electronics, Kl. Ohridsky blv. 8 1756 - Sofia, Bulgaria,  (+3592)9652142,  e-mail: tsd@tu-sofia.bg FEDiii...ZA...EIWKBHOME

A sensor component of a walking machine’s joint

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A sensor component of a walking machine’s joint

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