NDLI: An Alternative Approach In Sensing Simultaneous 3-DOF Motions

Content Provider	IEEE Xplore Digital Library
Author	Chee Kian Lim Chun Yong Ang I-Ming Chen Guilim Yang Wei Lin
Copyright Year	2006
Description	Author affiliation: Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ. (Chee Kian Lim; Chun Yong Ang; I-Ming Chen)
Abstract	Due to the proliferation of new technologies and demands for dexterous robotics manipulators, multi-degree-of-freedom (MDOF) actuators are widely sought after. These actuators are utilized primarily in the assembly sectors, precision machining and active tracking devices. Prior to realizing a feasible MDOF actuator for any practical use, positional closed loop feedback is of paramount importance. To date, commercially available encoders are mainly limited to single-DOF sensing. Furthermore, integration of these sensors inherently introduces mechanical linkages that compromise the overall performance of the system. This paper introduces an alternative approach in 3-DOF motions sensing leveraging on contactless sensing of anisotropic magneto-resistive (AMR) sensors. The theory and design methodology of this sensing method is being discussed and presented. Experimentation was also conducted for conceptual verification on existing spherical actuator. The uniqueness of this technique lies in the exploitation of existing magnetic field generated from the rotor. The test platform being established is expected to lay the foundation for optimizing key parameters. With the successful implementation of this new sensing system, future development will be focusing on real-time measurement and control.
Starting Page	588
Ending Page	593
File Size	330069
Page Count	6
File Format	PDF
ISBN	1424403103
DOI	10.1109/COASE.2006.326947
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Magnetic sensors Mechanical sensors Magnetic field measurement Robot sensing systems Manipulators Robotic assembly Machining Feedback loop Sensor systems
Content Type	Text
Resource Type	Article

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