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Chapter 6
Force sensors
A class of sensors
Includes a fairly large number of different sensors
Based on many principles
Will discuss four types of general sensors
force sensors
accelerometers
pressure sensors
gyroscopes
Force sensors
1
logR
log
dR
Strain Gauge
dL
=
= stress [N/m2]
E = Youngs modulus of the material (modulus of elasticity)
[N/m2 ]
= dL/L = strain
Strain gauges
Constantan (Cu60Ni40 )
Nichrome (Ni80Cr20)
Mangan ine
(Cu84Mn12 Ni4)
Nickel
Chromel (Ni65Fe25Cr10)
Platinum
Elinvar
(Fe55Ni36Cr8Mn0.5)
Platinum-Iridium
(Pt80Ir20)
Platinum Rhodium
(Pt90Rh10)
Bism uth
Gage Resistivity
factor [
2.0
0.48
5
2.0
1.3
100
2.2
0.43
10
Expans ion
coeff .
[10- 6/K]
Maximum
temperatrure
[C]
12.5
18
17
400
1000
-12
2.5
5.1
3.8
0.11
0.9
0.1
0.84
6000
300
2450
300
12
15
8.9
9
800
1300
6.0
0.36
1700
8.9
1300
4.8
0.23
1500
8.9
22
1.19
300
13.4
45 degree rosette
membrane rosette
Additional errors
Due the bonding process
Thinning of materials due to cycling.
Most strain gauges are rated for:
Force sensor
Force sensor
Load cells
Tactile sensors
Tactile sensors
A tactile sensor
Tactile sensors
Operation:
The polyvinylidene fluoride (PVDF) film is
sensitive to deformation.
The lower film is driven with an ac signal
It contracts and expands mechanically and
periodically.
When the upper film is deformed, its signal
changes from normal and the amplitude and or
phase of the output signal is now a measure of
deformation (force).
Tactile sensors
Tactile sensors
FSR sensor
Tactile sensors
Accelerometers
Accelerometers
Accelerometers - principles
Accelerometers - principles
ma
Accelerometers - principles
Accelerometers - Capacitive
Capacitive accelerometers
Accelerometers - Capacitive
Cantilever beam
End of travel stops
Capacitance proportional to vertical
acceleration
Variable inductance
accelerometers
Accelerometers - notes
Accelerometers - notes
Velocity sensing
Velocity sensing
Velocity sensing
Velocity sensing
emf
Velocity sensing
kPa = 103 Pa
Mpa = 106 Pa.
Pressure sensing
One side is held fixed (in this case by the small screw
which also serves to adjust, or calibrate it)
The other moves in response to pressure.
The device is hermetically sealed at a given pressure
Any pressure below the internal pressure will force the
diaphragm to expand (like a baloon)
Any higher pressure will force it to contract.
Very simple and trivially inexpensive, but:
Possibility of leakage
Dependence on temperature.
r
d
,
4
Pressure sensors
Piezoresistive pressure
sensors
simplifies construction
allows on board temperature compensation, amplifiers
and conditioning circuitry.
Basic structure:
=
R
Construction
Many variations
Body of sensor is particularly important
Silicon, steel, stainless steel and titanium
are most commonly used
Ports are made with various fittings
The contact material is specified (gas,
fluid, corrosivity, etc.)
Gyroscopes
Gyroscopes
Mechanical Gyroscopes
Mechanical Gyroscopes
Mechanical Gyroscopes
Mechanical Gyroscopes
Coriolis acceleration
Optical Gyroscopes
Sagnac effect
Sagnac effect
4
l
pW
nc
=
f
dl