Force-sensor Design

The following step for the design of the sensor has been completed.

1. Mechanical design of sensor prototype has been done in solid work with following component and printed

2. electrical protype using four opto sensor is the following

3. 

3. Raw data reading

When obstacle inturrupt the path of from four sensors and voltage decreased, these vlaue with help of Adc has been converted into digital value and feed into raspberry pi for process where we can read the Raw data

4. Save the data for different weight (0kg ,0.5kg, 1.25kg, 1.75kg

Different value of the weight has been put n the sensor and value for the voltage has been save for all four sensors

5. Calculation of the weights for using least square method

AS we now that at statring point the there is no value for the sensor voltage because no for force has been applied form equation F=V1xw1+V2xw2+V3xw3+V4xw4, the weight(w1,w2,w3,w4) has been calculated using least square method

6. Calculation of the force using above calculated weights

after callculation of the weight of the force can been calculated with eqaution F=V1xw1+V2xw2+V3xw3+V4xw4

7. Test the sensor for applying different force

Applying random force and following result for calibrated sensor has been produced.

## 8. PCB Board design The whole design is created in Altium designer output can be seen below in images

The 3d View of the pscb board is shown below

8. Calibation results and comparison with Futek sensor

Results are shown in following figure:

Second experiment