Design and fabrication of a piezoelectric finger force sensor using PVDF fibers for synchronous motion robotic gripper

Abstract

This paper integrates 3D near-field electrospinning technology with high strain composite substrates and electrode patterns to design a piezoelectric finger force sensor Among them the 3D near-field electrospinning technology uses a direct write type near-field electrospinning process to deposit piezoelectric nanofibers on the surface of the substrate and stacks them into a 3D structure to improve the piezoelectric performance per unit area; The high strain composite substrate is formed by fusing a large Young's modulus material and a small Young's modulus material on the composite substrate so that the piezoelectric nanofibers coated thereon generate more piezoelectric charges at the same time can improve sensitivity and linearity of sensing finger bending When the substrate is flexion by an external force the material with larger Young's modulus has smaller strain and the material with smaller Young's modulus has larger strain which causes the piezoelectric nanofibers overlying it to generate more piezoelectric charge while improving the sensitivity and linearity of sensing finger bending replacing the traditional geometric structure substrate Then study the influence of electrospinning process parameters and the number of series connected electrodes on the output gain of the sensor It is verified by the experimental results that the piezoelectric finger force sensor designed by this paper has a good linear signal curve with high sensitivity and the simple finger bending action can control the robotic claw to capture the target at the synchronous motion

Date of Award	2019
Original language	English
Supervisor	Sheng-Chih Shen (Supervisor)