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MOTRON sensors are devices capable of detecting the proximity of objects. They utilize the sensitivity of displacement sensors to approaching objects to identify proximity and output corresponding switching signals; therefore, proximity sensors are often referred to as proximity switches. This is a general term for sensors designed to replace contact-based detection methods such as switches, with the aim of detecting without contacting the target object. They can detect movement and presence information of the target and convert it into electrical signals.

MOTRON sensor introduction

Sensors used in robots to emulate tactile functions. Tactile sense is an important sensory function when humans directly contact the external environment. Developing tactile sensors that meet requirements is one of the key technologies in robot development. With the development of microelectronics and the emergence of various organic materials, a variety of development schemes for tactile sensors have been proposed, but most are currently at the laboratory stage, with few achieving productization. Tactile sensors can be roughly classified by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

MOTRON sensor classification

Slip sensors are used to judge and measure the slippage of objects when a robot grips or handles them. They are essentially displacement sensors. Based on whether they have sliding direction detection capability, they can be divided into three categories: non-directional, single-directional, and omni-directional. 1) Non-directional sensors include probe-earphone types, which consist of sapphire probes, metal buffers, piezoelectric Rochelle salt crystals, and rubber buffers. Sliding causes the probe to vibrate, which is converted into corresponding electrical signals by the Rochelle salt. The buffer serves to reduce noise. 2) Single-directional sensors include drum photoelectric types. Slippage of the gripped object causes the drum to rotate, leading to a photodiode receiving light signals transmitted through a code disk (mounted on the circular face of the drum). The object's slippage is measured via the rotation angle signal of the drum. 3) Omni-directional sensors use metal balls coated with insulating material and composed of conductive and non-conductive areas arranged in a latitude-longitude distribution. When the sensor contacts an object and slides, the ball rotates, causing the conductive and non-conductive areas on the ball surface to alternately contact electrodes, thereby generating on-off signals. By counting and judging these on-off signals, the magnitude and direction of slippage can be measured. This type of sensor requires high manufacturing precision.

MOTRON sensor applications

Tactile sensors are used to determine whether a robot (primarily its limbs) is in contact with external objects or to measure the characteristics of the contacted objects. Types of tactile sensors include micro switches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1) Micro switch: Composed of a spring and contacts. When the contacts touch an external object, they move away from the substrate, breaking the signal circuit, thereby detecting contact with the external object. The advantage of this normally closed (continuously connected when not in contact) micro switch is ease of use and simple structure; the disadvantages are susceptibility to mechanical oscillation and contact oxidation. 2) Conductive rubber type: It uses conductive rubber as the sensing element. When the contacts touch an external object and are compressed, the conductive rubber is pressed, changing its resistance and thus altering the current flowing through it. The disadvantage of this sensor is that due to variations in the material formulation of the conductive rubber, drift and hysteresis characteristics are inconsistent; the advantage is its flexibility. 3) Carbon-impregnated sponge type: It features an elastic body made of sponge mounted on a substrate, with carbon-impregnated sponge arranged in an array within the sponge. When the contacted object applies pressure, the resistance of the carbon-impregnated sponge decreases. By measuring the magnitude of the current flowing through the carbon-impregnated sponge, the degree of pressure can be determined. This sensor can also be used as a pressure sensor. Advantages include simple structure, good elasticity, and ease of use. Disadvantages are that the uniformity of carbon distribution directly affects measurement results, and recovery after pressure release is poor. 4) Carbon fiber type: The upper layer is carbon fiber, the lower layer is a substrate, and polyurethane and metal electrodes are installed in between. When contacting an external object, the carbon fiber is compressed and makes electrical contact with the electrodes. The advantage is good flexibility, allowing installation on curved surfaces of robotic arms, but hysteresis is significant. 5) Pneumatic reset type: It has a flexible insulating surface that deforms under pressure and uses compressed air as the resetting force when contact is released. When in contact with an external object, the internal elastic dome (beryllium copper foil) contacts the lower contacts to conduct electricity. Advantages include good flexibility and high reliability, but a compressed air source is required.

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