圧電バイモルフ素子を用いたすべり覚センサの実験

抄録

A piezoelectric bimorph element is useful for a slip sensor for robots because it is sensitive to dynamic stress, can be made small and its signal circuit is simple. A slip sensor using a piezoelectric bimorph element presented in this paper detects the first large pulse caused by frictional slip and also detects the instants of both contact with and release from an object. However, since it is easily influenced by vibrations transmitted from robot actuators and other sources, this slip sensor requires a vibration absorber at its supporting point. Therefore, experiments on motions of touch, slip and release were performed after reducing vibratory noise by means of an absorber at a foot of the device. It was found that the slip sensor reliably produces one pulse at the instant of first slip, and also produces one pulse at the instant of contact with or release from an object. The release signal is opposite to the touch one.