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Vol. 193, Issue 10, October 2015, pp. 67-73




Design and Analysis of a Collision Detector for Hybrid Robotic Machine Tools


University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, Ontario, L1H 7K4, Canada
Tel.: 905.721.8668 ext. 5721, fax: 905.721.3370

E-mail: Dan.Zhang@uoit.ca, Bin.Wei@uoit.ca


Received: 31 August 2015 /Accepted: 5 October 2015 /Published: 30 October 2015

Digital Sensors and Sensor Sysstems


Abstract: Capacitive sensing depends on the physical parameter changing either the spacing between the two plates or the dielectric constant. Based on this idea, a capacitive based collision detection sensor is proposed and designed in this paper for the purpose of detecting any collision between the end effector and peripheral equipment (e.g., fixture) for the three degrees of freedom hybrid robotic machine tools when it is in operation. One side of the finger-like capacitor is attached to the moving platform of the hybrid robotic manipulator and the other side of the finger-like capacitor is attached to the tool. When the tool accidently hits the peripheral equipment, the vibration will make the distance of the capacitor change and therefore trigger the machine to stop. The new design is illustrated and modelled. The capacitance, sensitivity and frequency response of the detector are analyzed in detail, and finally, the fabrication process is presented. The proposed collision detector can also be applied to other machine tools.


Keywords: Machine tools, Collision detection, Sensor, Capacitance, Vibration, Modelling.


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