Dynamic Rotational Sensor Using Polymer Optical Fiber for Robot Movement Assessment Based on Intensity Variation

A complex signal processing technique is usually required to process the data in most sensor design structures, and integration into real applications is also challenging. This work presents a dynamic rotational sensor using polymethyl methacrylate (PMMA) fiber for robot movement assessment. The sensor design structure is based on the coupling of light intensity, in which two PMMA fibers are twisted together. Both fibers are bent after twisting and attached on the linear translation stage, which is further attached to the robot. The variation in bending radius causes the bending loss, and that loss is coupled in the second fiber. The change in the macro-bend radius corresponds to the rotation of the robot. Experimental results indicate that the sensor can operate in full rotational cycle (i.e., 0 degrees-360 degrees) as well as for clock and anti-clockwise rotation. Moreover, different rotational speeds (2 degrees/s, 3 degrees/s, 5 degrees/s, and 10 degrees/s) were carried out. The hysteresis loss of the sensor was about 0.77% and the sensitivity was 8.69 nW/degrees. The presented dynamic rotational sensor is cost-effective and easily integrated into the robot structure to analyze the robot's circular motion.