Electrical generator or motor structure – Non-dynamoelectric – Piezoelectric elements and devices
Patent
1989-07-11
1991-02-05
Budd, Mark O.
Electrical generator or motor structure
Non-dynamoelectric
Piezoelectric elements and devices
310800, 901 9, H01L 4108
Patent
active
049908154
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 900% improvement in force step response rise time and a 300% reduction in overshoot are possible through the use of the PVDF sensor.
REFERENCES:
patent: 4555953 (1985-12-01), Dario et al.
patent: 4634917 (1987-01-01), Dvorsky et al.
patent: 4761005 (1988-08-01), French et al.
patent: 4792715 (1988-12-01), Barsky et al.
patent: 4824107 (1989-04-01), French
Barsky Michael F.
Claus Richard O.
Lindner Douglas K.
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