Piezoelectric Tweezer-type End-effector with Force- and Displacement-Sensing Capability

Show full item record

Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/42287

Title: Piezoelectric Tweezer-type End-effector with Force- and Displacement-Sensing Capability
Author: Kurita, Yuichi ; Sugihara, Fuyuki ; Ueda, Jun ; Ogasawara, Tsukasa
Abstract: This paper presents the design and development of robotic tweezers with a force- and displacement-sensing capability driven by piezoelectric stack actuators. In order to satisfy sufficient stroke and tip-force for future medical operations, a rhombus strain amplification mechanism is adopted. One of the serially-connected piezoelectric stack actuators nested in the end effector is used as a force sensor. The force-displacement characteristics at the outer-most layer with respect to the forces of the inner-most PZT actuators (i.e., forward model) is obtained from a lumped parameter model of the rhombus strain amplification mechanism and a Bernoulli-Euler beam model of the tweezerstyle end-effector. The end-effector tip force and displacement is measured using an inverse model of the nested multi-layer structure relating these quantities to an induced voltage across the inner-most PZT actuator. The prototype end-effector has the size of 69 (length) × 14 (height) × 13 (width) [mm]. The performance test shows that the prototype has 1.0 [N] force and 8.8 [mm] displacement at the tip. The sensing accuracy was also evaluated through experiments. The experimental results show that the prototype has mean error of 0.086 [N] for force and 0.39 [mm] for displacement, which are equivalent to 11% of their maximum measurable values.
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:
Type: Post-print
URI: http://hdl.handle.net/1853/42287
ISSN: 1083-4435
Citation: Yuichi Kurita, Fuyuki Sugihara, Jun Ueda, Tsukasa Ogasawara, "Piezoelectric Tweezer-type End-effector with Force- and Displacement-Sensing Capability, " IEEE/ASME Transactions on Mechatronics, in press, published online, 23 June 2011
Date: 2011-06
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Hiroshima University. Biological Systems Engineering Laboratory
Canon Inc.
Georgia Institute of Technology. School of Mechanical Engineering
Nara Institute of Science and Technology. Graduate School of Information Science
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Force and displacement sensing
Piezoelectric stack actuator
Robotic end effector
Piezoelectric stack actuator

All materials in SMARTech are protected under U.S. Copyright Law and all rights are reserved, unless otherwise specifically indicated on or in the materials.

Files in this item

Files Size Format View
Ueda_IROS_2011.001.pdf 2.717Mb PDF View/ Open

This item appears in the following Collection(s)

Show full item record