FR3130966B1 - Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet - Google Patents

Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet Download PDF

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Publication number
FR3130966B1
FR3130966B1 FR2114003A FR2114003A FR3130966B1 FR 3130966 B1 FR3130966 B1 FR 3130966B1 FR 2114003 A FR2114003 A FR 2114003A FR 2114003 A FR2114003 A FR 2114003A FR 3130966 B1 FR3130966 B1 FR 3130966B1
Authority
FR
France
Prior art keywords
sliding
force
sensor
piezoelectric plate
detect
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2114003A
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English (en)
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FR3130966A1 (fr
Inventor
Mehdi Boukallel
Laurent Eck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Commissariat a lEnergie Atomique CEA, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR2114003A priority Critical patent/FR3130966B1/fr
Publication of FR3130966A1 publication Critical patent/FR3130966A1/fr
Application granted granted Critical
Publication of FR3130966B1 publication Critical patent/FR3130966B1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/167—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using piezoelectric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
    • G01L1/162—Measuring force or stress, in general using properties of piezoelectric devices using piezoelectric resonators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
    • G01L5/009—Force sensors associated with material gripping devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

La présente invention concerne un capteur piézoélectrique comprenant une plaque piézoélectrique avec une première et une deuxième surface principale, un élément transmetteur recouvrant au moins une partie de la première surface principale et un contrôleur connecté à la plaque piézoélectrique. Le contrôleur est configuré pour mesurer une force exercée sur l’élément transmetteur et détecter un glissement d’un objet sur l’élément transmetteur et détecter des ondes ultrasonores réceptionnées par la plaque piézoélectrique pour mesurer une distance entre la plaque piézoélectrique et un objet. L’invention comprend également une pince robotique muni d’au moins un capteur, ledit capteur étant positionné sur un mors de la pince et une utilisation du capteur pour détecter une force, un glissement et une distance d’un objet. Figure pour l’abrégé : figure 1.
FR2114003A 2021-12-20 2021-12-20 Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet Active FR3130966B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2114003A FR3130966B1 (fr) 2021-12-20 2021-12-20 Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2114003 2021-12-20
FR2114003A FR3130966B1 (fr) 2021-12-20 2021-12-20 Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet

Publications (2)

Publication Number Publication Date
FR3130966A1 FR3130966A1 (fr) 2023-06-23
FR3130966B1 true FR3130966B1 (fr) 2024-04-26

Family

ID=80735459

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2114003A Active FR3130966B1 (fr) 2021-12-20 2021-12-20 Capteur piezoelectrique pour detecter une distance, une force et un glissement d’un objet

Country Status (1)

Country Link
FR (1) FR3130966B1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60243582A (ja) * 1984-05-17 1985-12-03 Agency Of Ind Science & Technol 超音波複合センサ
KR101479232B1 (ko) * 2008-05-13 2015-01-06 삼성전자 주식회사 로봇과 로봇 핸드, 로봇 핸드의 제어 방법
JP5445196B2 (ja) * 2010-02-10 2014-03-19 セイコーエプソン株式会社 応力検出素子、触覚センサー、および把持装置
WO2013061356A1 (fr) * 2011-10-24 2013-05-02 株式会社日立製作所 Capteur de glissement
JP5516548B2 (ja) * 2011-11-01 2014-06-11 株式会社デンソー 把持用センサ及びロボットハンド駆動制御装置

Also Published As

Publication number Publication date
FR3130966A1 (fr) 2023-06-23

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