Space robotics and mechanisms Angular encoders

Contactless angular encoders can be used for robotic joints or mechanisms. A ring with a magnetized code can be attached to a shaft or a ferromagnetic tooth / drill hole pattern can be implemented directly on the shaft on customer side.

  • Radiation hard >100 krad
  • Measurement uncertainty 0.1° to 1°
  • Repeatability  0.01° to 0.001°
  • Contactless
  • Incremental or absolute measurement

End of shaft solutions offer an absolute, cost-effective, contactless measurement over 2x 180°.

Performance:

  • Radiation hard >100 krad
  • Measurement uncertainty 0.1° to 1°
  • Repeatability
  • Contactless

Hollow shaft solutions

MR sensor solutions can operate in extreme radiation and temperature environments including the Martian winter. For applications where higher precision is required, Sensitec offers sensor solutions for hollow-shaft assemblies. An analog incremental solution only requires 2 ADC channels on the customer side and the implementation of a simple trigonometric function or table-look up inside the motor control. The analog incremental solution can be extended with a reference sensor to provide a reference information once per revolution.

Incremental Encoder Performance

  • 360°
  • Repeatability / resolution <0.01°
  • Radiation hard >100 krad
  • Contactless

Interface

  • One differential sine / cosine analog signal period per magnetic pole
  • Rectangular shaped PCB for arbitrary pole ring sizes

The absolute sensor solution requires a 2 channel ADC on the customer side as well as 8-12 digital input channels. The number of digital channels can be reduced by multiplexing if required.

Absolute Encoder Performance

  • 360° absolute true-power on
  • Repeatability / resolution <0.01°
  • Radiation hard >100 krad
  • Contactless
  • Compensation of radial run-out possible

Interface

  • One differential sine / cosine analog signal period per magnetic pole
  • 8-12 digital channels
  • Ring-shaped PCB

Signal Processing Box (for evaluation purposes)

For evaluation purposes, Sensitec also offers a signal-processing box, which allows testing and evaluation on ground. The box provides a digital output signal of the angular position

  • Converts Absolute encoder signals to digital position signal
  • Output though UART or SPI

Coming soon

End of shaft solutions

End of shaft solutions offer the most compact solution. A dipole magnet is attached to the end of a shaft. A sensor module with a sensor chip and amplification is placed above the rotating shaft at a distance, which depends on the size and strength of the magnet.

The electric interface provides a sine / cosine signal, which allows the calculation of an absolute, position over 2x 180° through an atan2 function.

Absolute Encoder Performance

  • 2x 180° absolute true-power on
  • Repeatability / resolution <0.1°
  • Radiation hard >100krad
  • Contactless
  • Low sensitivity to radial run-out

Interface

One differential sine / cosine analog signal period per magnetic pole

Trade space

Sensor SolutionRepeatabilityRangeAbsolute on power-onInterfaceRadial run-out tolerancePower
End of shaft<0.12x 180°Yes2 analog channelsHigh<0.1 W
Hollow shaft incremental0.01° to 0.001°360°No2 analog channelsLow / high with redundant module<0.1 W
Hollow shaft absolute0.01° to 0.001°360°Yes2 analog channels, 8-12 digital channelsHigh<0.2 W

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