Sensors & Instrumentation
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Thru-Shaft Potentiometers & Analog-to-Digital Converter
The wrist movements of the Training Model are tracked using two 640 series Thru-Shaft Potentiometers from Honeywell. The pots have a low profile, rugged exterior and cause precise changes in voltage when integrated into a simple circuit. The changes in voltage are considered analog signals, which must be converted into digital ones in order for the microcontroller to interpret them. Adafruit's 4-Channel, 12 bit Analog-to-Digital Converter is making communication possible.
Three of CUI Inc.'s AMT102-V Incremental Encoders are responsible for tracking the joint movements of the Training Model that require higher degrees of precision and accuracy. Small movements at the waist, shoulder, or elbow can translate to significant positional changes at the end effector. These encoders meet and exceed our needs. The output pulses from the encoders require attenuation in order for the microcontroller to reliably gather data - hence the need for the SparkFun's Bi-Directional Logic Level Converter.
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Incremental Encoders & Logic Level Converter
The heart and brain of the Training Model is NXP's Freedom KL25Z. This microcontroller offers an economical development platform as well as plenty of processing power. All training information is recorded and processed using this board and customized software.
NXP's Freedom KL25Z Microcontroller
Here is the Implementation of the Sensors and Instrumentation.
Here are some close-up images of an encoder and potentiometer attached to their respective shoulder and elbow joints:
