Robot gripper control system using PVDF piezoelectric sensors
US4792715A · kind A · utility
Inventors
Key dates
| Filing date | Nov 16, 1987 |
| Grant date | Dec 20, 1988 |
| Priority date | — |
| Expiry date | Nov 16, 2007 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S310/80
- WIPO fieldHandling
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.