Piezoelectric film load cell robot collision detector

Patent · Tue Apr 18 04:00:00 EDT 1989

OSTI ID:866918

Lembke, John R ^[1]

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1. Overland Park, KS

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.

• Research Organization: HONEYWELL INTERNATIONAL INC; Allied Corporation
• Sponsoring Organization: USDOE
• DOE Contract Number: AC04-76DP00613
• Assignee: United States of America as represented by United States (Washington, DC)
• Patent Number(s): US 4821584
• Application Number: 07/168,367
• OSTI ID: 866918
• Country of Publication: United States
• Language: English

Related Subjects

/73/310/
adapted
alignment
arm
bearing
cell
central
clamped
collision
collisions
compression
concentric
corresponding
detecting
detector
dowelled
effector
electric load
element
film
fluoride
force
formed
load
load cell
metallized
mounting
obstruction
pad
piezoelectric
piezoelectric film
plate
plates
polyvinylidene
polyvinylidene fluoride
projection
pvdf
recess
resilient
robot
robot arm
screwed
sensing
sensing element
support
supporting
upper
upper plate
utilized
vinylidene fluoride
wrist