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Title: Piezoelectric film load cell robot collision detector

Abstract

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 dowelled 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.

Inventors:
 [1]
  1. Overland Park, KS
Publication Date:
Research Org.:
HONEYWELL INTERNATIONAL INC; Allied Corporation
Sponsoring Org.:
USDOE
OSTI Identifier:
866918
Patent Number(s):
US 4821584
Application Number:
07/168,367
Assignee:
United States of America as represented by United States (Washington, DC)
DOE Contract Number:  
AC04-76DP00613
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
piezoelectric; film; load; cell; robot; collision; detector; utilized; detecting; collisions; obstruction; arm; effector; force; sensing; element; metallized; polyvinylidene; fluoride; pvdf; resilient; support; pad; clamped; compression; upper; plates; plate; central; recess; supporting; corresponding; projection; formed; bearing; dowelled; concentric; alignment; screwed; adapted; mounting; wrist; piezoelectric film; load cell; sensing element; robot arm; vinylidene fluoride; upper plate; polyvinylidene fluoride; electric load; /73/310/

Citation Formats

Lembke, John R. Piezoelectric film load cell robot collision detector. United States: N. p., 1989. Web.
Lembke, John R. Piezoelectric film load cell robot collision detector. United States.
Lembke, John R. Tue . "Piezoelectric film load cell robot collision detector". United States. https://www.osti.gov/servlets/purl/866918.
@article{osti_866918,
title = {Piezoelectric film load cell robot collision detector},
author = {Lembke, John R},
abstractNote = {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 dowelled 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.},
doi = {},
url = {https://www.osti.gov/biblio/866918}, journal = {},
number = ,
volume = ,
place = {United States},
year = {1989},
month = {4}
}

Patent:

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