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ZINNER sensors are sensors used to measure the robot's own position. Position sensors can be divided into two types: contact sensors and proximity sensors. Sensors that can sense the position of the measured object and convert it into a usable output signal. It is a sensor that can sense the position of the measured object and convert it into a usable output signal. Position sensors can be used to detect position, reflect switches in a certain state. Unlike displacement sensors, position sensors come in two types: contact and proximity.

ZINNER 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 technical keys in robot development. With the development of microelectronics technology and the emergence of various organic materials, a variety of development plans for tactile sensors have been proposed, but most are currently in the laboratory stage, with few reaching productization. Tactile sensors can be roughly divided by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

ZINNER sensor classification

Slip sensors are used to judge and measure the slippage generated by objects when robots grasp or handle them. They are essentially a type of displacement sensor. They can be divided into three categories based on whether they have sliding direction detection functionality: 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's role is to reduce noise. 2) Single-directional sensors include drum photoelectric types. Slippage of the grasped object causes the drum to rotate, leading photodiodes to receive light signals transmitted through the code disk (mounted on the drum's circular face). The object's 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 measured. This type of sensor requires high manufacturing process standards.

ZINNER 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, causing the signal path to open, 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 sensitive element. When the contacts touch an external object and are subjected to pressure, the conductive rubber is compressed, 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 base plate, with carbon-impregnated sponge arranged in an array within the sponge. When the contacted object is pressed, 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 pressure is poor. 4）Carbon fiber type: The upper layer is carbon fiber, the lower layer is a base plate, and polyurethane and metal electrodes are installed in between. When contacting an external object, the carbon fiber is compressed and makes contact with the electrodes to conduct electricity. 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 broken. 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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