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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. 3 figs.

Inventors:
Issue Date:
Research Org.:
Allied-Signal Aerospace Co., Kansas City, MO (USA). Kansas City Div.
OSTI Identifier:
6288436
Patent Number(s):
-US-A7168367
Application Number:
ON: DE89010117
Assignee:
Dept. of Energy TIC; EDB-89-063861
DOE Contract Number:  
AC04-76DP00613
Resource Type:
Patent
Resource Relation:
Other Information: Portions of this document are illegible in microfiche products
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ROBOTS; SENSITIVITY; DESIGN; INVENTIONS; MANIPULATORS; PIEZOELECTRICITY; ELECTRICITY; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT; 420200* - Engineering- Facilities, Equipment, & Techniques; 420800 - Engineering- Electronic Circuits & Devices- (-1989)

Citation Formats

Lembke, J.R. Piezoelectric film load cell robot collision detector. United States: N. p., 1988. Web.
Lembke, J.R. Piezoelectric film load cell robot collision detector. United States.
Lembke, J.R. Tue . "Piezoelectric film load cell robot collision detector". United States.
@article{osti_6288436,
title = {Piezoelectric film load cell robot collision detector},
author = {Lembke, J.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. 3 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1988},
month = {3}
}