セルフセンシング・アクチュエータ機能を利用したソフトハンドリング・グリッパの把握力検出と制御

概要

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The self-sensing actuator (SSA) is a new concept for intelligent materials, where a single piezoelectric element simultaneously performs as both a sensor and an actuator. This concept is very advantageous in many aspects of control, and it makes it possible to reduce the size and weight of the structures. The bimorph piezoceramics are very useful to compose the soft-handling miniature gripper to control the minute grasping force. Our aim is to realize such a gripper making the most of the functions of SSA, that is to develop the method to detect the grasping force without a force sensor. The proposed method does not need the complete electric bridge circuit which is generally used to detect the strain information. Experimental result proved that the grasping force followed up some desired trajectories irrespective of the rigidity of grasping object.
1999-05-25