Formation of PVDF Piezoelectric Film on 3D Bellows Surface of Robotic Suction Cup for Providing Force Sensing Ability Feasibility Study on Two Methods of Dipcoating and Lamination This paper proposes a new object handling device for a robot, in which a conventional vacuum suction cup is provided with force sensing ability by coating a piezoelectric thin film polymer, i.e., PolyVinylidene DiFluoride (PVDF), on its surface. It can detect the applied force by piezoelectric effect of coated thin film. The feature of our study is that the suction cup can work not only as a grasping tool but also as a force sensor. PVDF thin film was prepared by dipcoating method which can coat thin film directly on a three dimensional (3D) surface. Although the film with sufficient piezoelectric d 33 constant, e.g., 34 pCN, was achieved after polarization process in case of flat surface, it was not achieved, however, on 3D bellows surface. To address this problem, as an alternative method, the feasibility of lamination of already polarized film was investigated.

Modeling of serial link robots covered with a thin flexible film This manuscript describes the modeling of a serial link robot covering with a thin, flexible film. By covering a serial link robot with a plastic film, the robot can manipulate daily goods such as foods and clothes cleanly. However, the mechanical properties of the serial links covering the film have not been clarified. In this manuscript, we discuss the fundamental mechanical characteristics, whether the film and the link should slide or not. We assume that the film is modeled as a beam, and analyze the static mechanical characteristics from the viewpoint of material mechanics. As a result, we find the robot can rotate even in a small DC motor by filling an appropriate volume of an insulating fluid. We evaluate the validity of the analyses experimentally through the prototype fabricated by the robot packaging method.