Electrical generator or motor structure – Non-dynamoelectric – Piezoelectric elements and devices
Patent
1987-11-16
1988-12-20
Budd, Mark O.
Electrical generator or motor structure
Non-dynamoelectric
Piezoelectric elements and devices
310800, 294 864, 294907, 414730, 901 9, 901 10, 901 32, H01L 4108
Patent
active
047927151
ABSTRACT:
A robot gripper control system is disclosed which uses PVDF piezoelectric sensors to actively damp exerted force. Instead of charge amplifying the output of the piezoelectric transducer, the output voltage is measured as the charge drains across a path of low resistance. Thus, the sensor output is proportional to the rate-of-force exerted by the gripper. The PVDF sensor and a strain gauge are arranged in a proportional and derivative (PD) control system for the control of force of a robot manipulator hand. Experimental results for the particular disclosed gripper indicate that as much as a 900% improvement in force step response rise time and a 300% reduction in overshoot are possible through the use of the PVDF sensor.
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patent: 4594526 (1986-06-01), Araki et al.
patent: 4610475 (1986-09-01), Heiserman
patent: 4630135 (1986-12-01), Sato
patent: 4663555 (1987-05-01), Yoshihiro
patent: 4667997 (1987-05-01), Udagawa et al.
patent: 4689992 (1987-09-01), Strachan
patent: 4727277 (1988-02-01), Adams
Barsky Michael F.
Claus Richard O.
Linder Douglas K.
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