Force Control of Gripper Driven by Piezoelectric Actuator

压电执行器驱动的夹具力控制

• 批准号: 05045026
• 负责人: CHONAN Seiji
• 金额: $ 3.84万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for international Scientific Research
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1995
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-05045026/
• 关键词: Minute force control; Piezoelectric actuator; Soft-handling gripper; Linear drive amplifier; Tactile sensor; PID control; II_* control; 二本指機構; 接触センサ; Hx制御; 適応制御; 把持機構

The present project has been pursed for the past three years under the collaboration of Tohoku University, Japan and Chonbuk National University, Korea to achieve Force Control of Gripper Driven by Piezoelectric Actuator. The details of the project are as follows.1. Piezoelectric ceramics are ferroelectric and are fundamentally nonlinear in their response, showing a significant hysteretic loopto the applied voltage signal. The problem of the linear drive of nonlinear piezoelectric ceramic actuators was studied. A linear drive method was proposed for the ceramic actuators that compensates for the hysteretic loop. A simple nonlinear preamplifier was developed. It was shown that the hysteretic loop disapeppears when the nonlinear pre-amplifier is installed between the d. c. amplifier and the input voltage generator.2. Soft tactile sensor with a sense of human digital pulp was developed in order to measure minute force. The sensor is composed of two rectangular rubber blocks and several st … More arin gauges that are inserted between the interface of the rubber blocks. The strains in the gauges are propotional to the magnitude of the applied load on the sensor. Thus, the surface load can be determined by measuring the output of the gauges. Characteristics of the sensor are investigated both theoretically and experimentally for several configurations of the rubber blocks with a single embedded strain gauge. Obtained Results showed that the proposed soft sensor measures the distributed as well as the concentrated minute force on the sensor effectively.3. A two-fingerd miniature gripper driven by piezoelectric bimorph cells and was developed and the hybrid position/force control of the system was studied. The system is composed of two flexible cantilevers and a compact force sensor attached to the tip of one finger. The theoretical model of the electro-mechanical system was developed and applied to the study of a control problem where the gripper is commanded to grasp its object with a time-constant force 0.01N at a prescribed comanded fingertip position. The PID and II_* control algorithms were introduced to drive the gripper. The system control behavior was examined both theoretically and experimentally. The results showed the two-fingerd system works well as a miniature gripper. It can control the grasping force of order 0.01N at the tip of the finger. Less

本项目是由日本东北大学和韩国全北国立大学合作三年来完成的，目的是实现压电致动器驱动的夹持器的力控制。该项目的具体内容如下：1.压电陶瓷是铁电的，其响应基本上是非线性的，对施加的电压信号表现出显著的滞后回路。研究了非线性压电陶瓷驱动器的直线驱动问题。提出了一种补偿迟滞回路的陶瓷驱动器的直线驱动方法。研制了一种简单的非线性前置放大器。结果表明，当非线性前置放大器安装在直流放大器和输入电压发生器之间时，滞后回路消失。为了测量微小的力，研制了一种具有人类数字牙髓感觉的软触觉传感器。该传感器由两个矩形橡胶块和若干个st…组成。在橡胶块的界面之间插入更多的压力计。压力计中的应变与施加在传感器上的载荷大小成正比。因此，表面载荷可以通过测量压力计的输出来确定。从理论和实验两个方面研究了几种不同结构的橡胶块内嵌单应变片的传感器特性。仿真结果表明，所提出的软测量方法能够有效地测量传感器上的分布微力和集中微力。研制了一种由压电双晶片电池驱动的双指微型夹持器，并对系统的位置/力混合控制进行了研究。该系统由两个柔性悬臂和一个紧凑型力传感器组成，该传感器连接在一个指尖上。建立了机电系统的理论模型，并将其应用于控制问题的研究中，其中要求抓取器在规定的命令指尖位置以0.01N的时间恒定力抓取对象。采用了PID控制算法和II*控制算法来驱动夹爪。从理论和实验两方面对系统的控制行为进行了检验。实验结果表明，该双指夹持系统具有较好的微型抓取性能。它可以控制指尖0.01N量级的抓持力。较少

项目成果

S.Shibata and H.Inooka: "Emotional Evaluation of Human Arm Motion models" 1993 Korea-Japan Joint Seminar on Advanced Mechatronics. 29-42 (1993)

S.Shibata 和 H.Inooka：“人体手臂运动模型的情感评估”1993 年韩日先进机电一体化联合研讨会。

Y.C.Lee, D.Y.Pang and S.C.Lee: "PID Tip Position Control of the Translational 1-Link Flexible Arm" 1993 Korea-Japan Joint Seminar on Advanced Mechatronics. 15-28 (1993)

Y.C.Lee、D.Y.Pang 和 S.C.Lee：“平移 1-Link 柔性臂的 PID 尖端位置控制”1993 年韩日先进机电一体化联合研讨会。

S.Chonan and Z.W.Jiang: "Force Control of a Soft-handling Gripper Driven by a Piezoceramic Stack" International Symposium on Non-Linear Electromagnetics Systems. (1995)

S.Chonan 和 Z.W.Jiang：“压电陶瓷堆栈驱动的软处理夹具的力控制”非线性电磁系统国际研讨会。

M.Tanaka, Z.W.Jiang and S.Chonan: "Force Control of a Flexible Finger with Distributed Force Sensor and Piezoelectric Actuators" Proc. -1st. -Int. -Workshop on Advanced Mechatronics. 237-241 (1995)

M.Tanaka、Z.W.Jiang 和 S.Chonan：“使用分布式力传感器和压电执行器对柔性手指进行力控制”Proc。

K.H.Yu,T.Takahashi,H.Inooka: "Nonlinear Motion Analysis of a Conservative Two-Link Arm" 1993 Korea-Japan Joint Seminar on Advanced Mechatronics. 55-66 (1993)

K.H.Yu，T.Takahashi，H.Inooka：“保守两连杆臂的非线性运动分析”1993年韩日先进机电一体化联合研讨会。