Robot gripper control system using PYDF piezoelectric sensors
US4990815A · kind A · utility
Inventors
Key dates
| Filing date | Jul 11, 1989 |
| Grant date | Feb 5, 1991 |
| Priority date | — |
| Expiry date | Jul 11, 2009 |
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 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.