German WERNER BACH sensors, WERNER BACH models, WERNER BACH prices

WERNER BACH sensors are used to detect angles. There is a hole in the body that can accommodate a LEGO axle. When connected to RCX, the angle sensor counts once for every 1/16 revolution of the axle. When rotating in one direction, the count increases; when the direction of rotation changes, the count decreases. The count is related to the initial position of the angle sensor. When the angle sensor is initialized, its count value is set to 0. If needed, you can reset it via programming.

WERNER BACH sensor introduction

Sensors used in robots to mimic 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, many development schemes for tactile sensors have been proposed, but most are currently at the laboratory stage, with few reaching productization. Tactile sensors can be roughly classified by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

WERNER BACH sensor classification

Slip sensors are used to determine 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-earpiece 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's role is to reduce noise. 2) Single-directional sensors include drum photoelectric types. Slippage of the gripped object causes the drum to rotate, leading a photodiode to receive light signals passing through a code disk (mounted on the drum's circular face). Object slippage is measured via the drum's rotation angle signal. 3) Omni-directional sensors use metal balls surfaced with insulating material and composed of latitudinal and longitudinal distributions of conductive and non-conductive areas. When the sensor contacts an object and slippage occurs, the ball rotates, causing the conductive and non-conductive areas on the ball's 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 determined. This type of sensor requires a high level of manufacturing craftsmanship.

WERNER BACH 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 base plate, 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 drift and hysteresis characteristics vary due to differences in the conductive rubber material formulation; the advantage is its flexibility. 3 Carbon-impregnated sponge type: It features an elastic body made of sponge mounted on a base plate, 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. Measuring the magnitude of the current flowing through the carbon-impregnated sponge determines the degree of pressure. 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 capability after compression is poor. 4 Carbon fiber type: The upper layer is carbon fiber, the lower layer is a base plate, and urethane 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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