Piezoelectric film load cell robot collision detector

Patent · Tue Apr 18 00:00:00 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

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
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