Piezoelectric film load cell robot collision detector

Patent · Tue Apr 18 04:00:00 EDT 1989

OSTI ID:7068955

Lembke, J R

A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are doweled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector. 3 figs.

• DOE Contract Number: AC04-76DP00613
• Assignee: Dept. of Energy, Washington, DC (United States)
• Patent Number(s): US 4821584; A
• Application Number: PPN: US 7-168367
• OSTI ID: 7068955
• Country of Publication: United States
• Language: English

Related Subjects

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MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MEASURING INSTRUMENTS
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