Piezoelectric Self-Sensing Technique for Tweezer Style End-effector

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dc.contributor.author McPherson, Timothy en_US
dc.contributor.author Ueda, Jun en_US
dc.date.accessioned 2012-01-30T19:00:23Z
dc.date.available 2012-01-30T19:00:23Z
dc.date.issued 2011-12
dc.identifier.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). en_US
dc.identifier.isbn 978-1-61284-454-1
dc.identifier.issn 2153-0858
dc.identifier.uri http://hdl.handle.net/1853/42288
dc.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. en_US
dc.description DOI: 10.1109/IROS.2011.6094764 en_US
dc.description Presented at the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25-30 September 2011, San Francisco, CA. en_US
dc.description.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. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Piezoelectric materials en_US
dc.subject Robotic tweezers en_US
dc.subject Actuators en_US
dc.subject Rhombus strain amplification en_US
dc.title Piezoelectric Self-Sensing Technique for Tweezer Style End-effector en_US
dc.type Post-print en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US


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