Estimation of Angle Parameters Based on Multifunctional Approach

Abstract

Multifunctional approach gives the properties of sensor not only multifunctional, but also a compact structure and sometimes can increase discriminative property of sensing objects. In this study, because of the advantages of multifunctional approach, based on it, a sensor for estimating direction, obliquity and torsion angle parameters which are always used to describe the movement of a widely existing structure with a conjunction between two parts, likes robot arm, human extremity and so on is proposed. In order to obtain the reconstructions of three angle parameters in a simple and precise way, a symmetrical structure with three alike sensing elements are designed. The angle parameters are converted to the length change of three iron lines move on the surface of a flexible tube. This length change is detected based on inductance principle. Measuring several measured points as a database, the reconstructions of direction, obliquity and torsion angle can be obtained. The results calculated by these reconstructions prove the feasibility of the sensor.