Robot gripper control system using PYDF piezoelectric sensors

Details Robot gripper control system using PYDF piezoelectric sensors Robot gripper control system using PYDF piezoelectric sensors

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

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