Group 4
Systematization of fundamental technologies
in industrial robots for manufacturing use1)Sensor Technologies
Pui Ching Middle school(Macau)

Introduction
Nowadays, sensors are an important part in our life. There are sensors everywhere,
for example in an elevator, a door lock, or even in your phone!
In this study report, we will introduce five different kinds of sensors which canhave various uses in the industrial area.

Speaker : Cannan Wong
Members : Franklin Yeung(Leader)Brian HoJoaquim Pang
Jacky Wong
Teacher：Sandy Chan

3D Vision

3D vision is an extraction of 3D data from digital images. This technology cancalculate out an object’s coordinates by capturing a photo of it. Mechanical arms often
works with a 3D vision system, especially when it needs to pick parts from a bin to a parts
tray.

Use of this technology -- Bin Picking
One way to apply the 3D vision
onto Bin Picking is through the 3D area
sensor. I found some of the companies
creating Bin Picking projects that pick up
parts, parcels and even lining up dices!
Although it only gets a two-dimensional
picture, it can calculate out the angle of thepart and cooperate with the mechanical arm
to pick it up, turning it into a tri-dimensionalaction.

As the quality and speed of manufacturing things
increases, high-speed producing is becoming moreessential. The combination of mechanical arm and3D vision can seperate different kinds of parts
precisely in a speedy time. Besides, Fanuc also
develops a self-learning system that involves 3D
area sensor. It can improve its accuracy every timeit scans the bin. With these two improvements, thespeed of manufacturing can be reduced.
parts tray

Force Torque Sensors

bin withparts

A force torque sensor is a 6-Axis sensor designed for force and position control.
A torque is the tendency of a force to rotate an object about an axis. Using this, the robot
can know how much pressure is between it and another object and use that data tocalculate. Here is a video where Robotiq show how their Force Torque Sensor works.

Where can we use this type of sensor?

Safety Sensors

With the help of the force torque sensor, the robot can precisely assemble everysmall part. It does this through :(a)1. Roughly positioning the parts with vision technology
2. Slowly “wiggling” the part
3. Force torque sensor detects force feedback that means the part is in place
4. Putting the part in

Nowadays, many factories use the robotic arms to produce products. It is fast
and accurate but it may harm the workers, so we use the safety sensor to help the roboticarms to detect is someone near it. If there is a person , the robotic arms will be more
careful to not harm the workers. Instead of it, we can make some ways to stop the roboticarms if they go wrong or will harm someone.
It can make the process of producing more safety and reliable, also protect theworkers not to be injured.
(b)

A safety sensor is a kind of sensor that uses laser to detect if there
is anyone near the robotic arms. If there is, the robot will slow down.It is
usually used in factories where there are a lot of robots. It can help theworkers work with the robots more comfortably and safely.
(c)There is an other kind of safety sensor inrobotic arms. It can also protect the workers not to
be injured but it use another way to do it.

Infrared thermal imager

The robotic arm is made out of a special
material which is like a touch sensor. When there isa worker near the robotic arm, the workers can push
it and make it stops. It can make the process of
producing faster and also protect the workers.

The Infrared thermal imager have two different types of detect ways. The first type,the photon detection uses the electric effect on the semiconductor material of photons togenerate the image and it has high sensitivity. But the temperature of the detector willaffect them,so we need to cool the detector down.
The second type, the thermal detection turn the heat which were caused by therays into electrical signals, the sensitivity is worse than the first type but we do not need tocool it.

People use the infrared thermal imager into many places such as military uses, it candiscover the engine of the tank and the soldiers at night.
People combine the infrared thermal imager with different sensors such as theultrasonic sensors to invent a robot to save lives in many disasters. The robots do theirrescue job to perform to the tourist in iREX.

A popular sensor

Tactile sensors

Here is a video about tactile sensors

Tactile sensors are becoming more popular these days. This kind of sensor is, most of
the time, fitted on a gripper to detect and feel what is in it.

My research in iREXThis is Dual COBOTTA
Co-Painting. It uses tactile
sensor to control thepressure of the pen. If thepressure is too high, thepaper will break. If thepressure is too low, you
cannot draw anything onthe paper.

How a tactile sensor works
The tactile sensors are usually able to detect forces and draw an array of vectors withthe force distribution. That can show the exact position and shape of an object and allows
you to control the position and the grasping force of the end effector. Some tactile sensors
can also detect heat variation.

Conclusion
Nowadays, the development of the industrial robots have become more andmore important as the decreasing of the labor force in the developed countries. In order tokeep the quality of manufacturing precise, safe and convenient machines are required.
Sensor technologies plays a vital role in machines. As we mentioned before, sensor
technologies can be applied in various fields. Robots will gradually become our greatcooperator in our life.

This is a tactile sensor vetor. It can detect the force distribution.

Reference(part 1)
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Sensors: http://www.electrical4u.com/sensor-types-of-sensor/
Fanuc mecha arm: http://www.directindustry.com/prod/fanuc-robotics/product-14532-1224853.html
Fanuc 3D sensor:
http://www.interempresas.net/Robotica/Articulos/113324-El-nuevo-sistema-de-vision-de-Fanuc-reduce-los-tiempos-de-recogida-en-ceston.html
Force Torque Sensor: http://www.ati-ia.com/products/ft/images/ATI_Family_of_Force-Torque_Sensors.png
Torque Sensor: http://www.zacobria.com/robotiq-zacobria-universal-robot-force-torque-sensor/images/universal-robotiq-zacobria-force-torque-sensor-ft-150signal-video.jpg
Force Torque Sensor on Robotic Arm: http://2.bp.blogspot.com/-7SzYFkBtoBg/VM9OQkUTaUI/AAAAAAAACF4/fyNsm49ecLg/s1600/Roboticsassembly-robot-gripper-force-torque-sensor-FT-web-3-horiz.png
Safety sensor:a) http://g02.a.alicdn.com/kf/HTB1C7mlIVXXXXbiXXXXq6xXFXXXd/4-safety-grating-safety-font-b-light-b-font-font-b-curtain-b-font-font-b.jpgb) http://www.triple-in.de/fileadmin/_processed_/csm_3d-kem-ps-sensoren-01_44a5c9a96c.pngc) https://www.panasonic-electric-works.com/pew/eu/images/sensors/pp_63100_9101_sd3a1.jpg
Part detection sensor: https://pinkrobotics.files.wordpress.com/2013/09/3-robotiq-adaptive-gripper-with-an-egg.jpg?w=65&h=65&crop=1
Part detection sensor: http://us.misumi-ec.com/msmec/ideanote/000271/img/img_unit.png
Part detection sensor: http://www.zacobria.com/robotiq-zacobria-universal-robot-grippers/images/robotiq-zacobria-universal-robot-grippers.jpg

Reference(part 2)
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Flexible Tactile Sensor: http://www.mdpi.com/sensors/sensors-14-05296/article_deploy/html/images/sensors-14-05296f2-1024.png
Tactile Sensors for Grip Applications: https://www.tekscan.com/sites/default/files/tactile-sensor-grip.jpg
Tactile Sensor Systems: http://www.iff.fraunhofer.de/en/business-units/robotic-systems/technologies/tactile-sensorsystems/_jcr_content/stage/image.img.jpg/tactile-sensors-pressure-distribution.1350543056601.jpg
USC Develops Robot With Tactile Sensor: http://www.medgadget.com/wp-content/uploads/2012/06/808731.jpg
Tactile Sensor video: https://www.youtube.com/watch?v=ZCZ8Gmh59i0
Infrared thermal imager : http://www.wuhanguide.com/Uploadfiles/m_user/Unit_934823954/User_2010041616344060350/m_temp/pic2014110711461839490.jpg
Infrared thermal imager:http://www.hope.com.tw/news/2009/10/28/1834267039.jpg

~THE END~
Thank You