A multi‐purpose dynamic and tactile sensor for robot manipulators

摘要

Abstract In this article, a multi‐purpose tactile/acceleration sensor system made of newly developed thick polymeric piezoelectric material and capable of sensing acceleration, contact force and pressure is developed and evaluated using analytical and experimental techniques, The sensor system is discretized and modeled by a single degree of freedom second order system from which equations of electromechanical dynamics are formulated to evaluate its performance. Analytical solutions are compared favorably with experimental results.