Show simple item record

dc.contributor.authorMcPherson, Timothyen_US
dc.contributor.authorUeda, Junen_US
dc.date.accessioned2012-01-30T19:00:23Z
dc.date.available2012-01-30T19:00:23Z
dc.date.issued2011-12
dc.identifier.citationTimothy 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.isbn978-1-61284-454-1
dc.identifier.issn2153-0858
dc.identifier.urihttp://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.descriptionDOI: 10.1109/IROS.2011.6094764en_US
dc.descriptionPresented at the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25-30 September 2011, San Francisco, CA.en_US
dc.description.abstractThis 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.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectPiezoelectric materialsen_US
dc.subjectRobotic tweezersen_US
dc.subjectActuatorsen_US
dc.subjectRhombus strain amplificationen_US
dc.titlePiezoelectric Self-Sensing Technique for Tweezer Style End-effectoren_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineeringen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record