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.
INTRODUCTIONAccurate acceleration, force, and pressure measurements provide information to robotic system for high precision manipulation and control in performing various tasks. In various sensor designs for dynamic measurements and control, piezoelectricity is probably the most widely used electromechanical characteristics. In general, piezoelectric material responds to mechanical forces and/or pressures and generates an electric charge which is referred to as the direct piezoelectric effect. Conversely, application of electric field to the material can produce mechanical stress or strain which is named as the reciprocal, or converse piezoelectric effect. Temperature change also affects electric polarization on some 720
Journal of Robotic Systems-7987piezoelectrics, which is referred to as the pyroelectric effect.' The Curie brothers, Pierre and Jacques, first observed piezoelectricity in natural crystals in 1880.2 Brain investigated piezoelectric polymers in 1924.3 Kawai discovered piezoelectric polymeric polyvinylidene-fluoride (PVDF) in 1969.4 Bergman' and McFee6 also found pyroelectric properties in PVDF polymer PVDF is pliant, tough, lightweight, and flexible and can be made in large flat sheet. On the contrary, piezoelectric ceramics and natural crystals are usually dense, brittle, stiff, and difficult to produce large size and impractical to fabricate into complex shapes. In applications of the synthetic piezoelectric materials to dynamic measurements and control, the flexibility, continuous surface area, dimensional stability, arbitrary geometric configurations, and low production cost of the PVDF polymer do provide great advantages over other crystalline materials, which directly result in increasing its popularity since the mid-1970'~.'.~ Thin Tzou and Pandita: Multi-Purpose Dynamic and Tactile Sensors 72 1 FORMULATION Piezoelectricity in Thlck Polymeric PVDF Fiat piezoelectric material can be generally expressed in a complex matrix form:The relationship between electric polarization and mechanical strain/stress in