The purpose of this paper is to present a dual-mode proximity sensor composed of inductive and capacitive sensing modes, which can help the robot distinguish different objects and obtain distance information at the same time. A systematic study of sensor response to various objects and the function of cooperation sensing is needed. Furthermore, the application in the field of robotic area needs to be discussed.
Numerical modeling of each sensing modes and simulations based on finite element analysis method has been carried out to verify the designed dual-mode sensor. A number of objects composed of different materials are used to research the cooperation perception and proximity sensing functions. In addition, the proposed sensor is used on the palm of a mechanical hand as application experiment.
The characteristics of the sensor are summarized as follows: the sensing range of inductive mode is 0-5.6 mm for detecting a copper block and the perceive range of capacitive mode is 0-5.1 mm for detecting a plastic block. The collaborative perceive tests validated that the non-ferromagnetism metals can be distinguished by inductive mode. Correspondingly, ferromagnetism metals and dielectric objects are differentiated by capacitive mode. Application experiments results reveal that both plastic bottle and steel bottle could be detected and differentiated. The experimental results are in agreement with those of simulations.
This paper provides a study of dual-mode proximity sensor in terms of design, experiments and application.
