| Title: | Piezoelectric Self-Sensing Technique for Tweezer Style End-effector |
| Author: | McPherson, Timothy ; Ueda, Jun |
| Abstract: | This paper presents the application of a piezoelectric self-sensing technique based on discharged current to robotic tweezers incorporating a rhombus strain amplification mechanism driven by serially connected piezoelectric stack actuators. Connecting a shunt resistor in series with a piezoelectric element allows it to be used simultaneously as an actuator and a sensor by measuring the current generated by the piezoelectric element. This allows the displacement and force to be measured without extra sensors or the loss of actuation capability. Applying an inverse model of the nested structure allows the force and displacement at the tip of the tweezers to be determined. The accuracy of this method is then examined by experiment for the case of free displacement. |
| Description: |
©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. DOI: 10.1109/IROS.2011.6094764 Presented at the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25-30 September 2011, San Francisco, CA. |
| Type: | Post-print |
| URI: | http://hdl.handle.net/1853/42288 |
| ISSN: | 2153-0858 |
| ISBN: | 978-1-61284-454-1 |
| Citation: | Timothy McPherson and Jun Ueda, "Piezoelectric Self-Sensing Technique for Tweezer Style End-effector," the 2011 IEEE International Conference on Intelligent Robots and Systems (IROS 2011). |
| Date: | 2011-12 |
| Contributor: |
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. School of Mechanical Engineering |
| Publisher: |
Georgia Institute of Technology
Institute of Electrical and Electronics Engineers |
| Subject: |
Piezoelectric materials
Robotic tweezers Actuators Rhombus strain amplification |
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| McPherson_IEEE_2011_001.pdf | 648.7Kb |
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