한국안전학회지 (Journal of the Korean Society of Safety)
- 제11권4호
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- Pages.16-23
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- 1996
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- 1738-3803(pISSN)
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- 2383-9953(eISSN)
조건수를 이용한 6자유도 F/T센서의 최적구조에 관한 연구
A Study on the optimal structure of 6 D.O.F F/T Sensor using the condition number
초록
In controlling manipulators interacting with the external environment, an important role is played by the Force/Torque(F/T) sensors. Recently, a number of structures for F/T sensors have been proposed, and some criteria for their evaluation have been introduced. This paper presents a systematic analysis of F/T sensor at the design stage. A model of the F/T sensors, based on Stewart Platform structure, is developed on the basis of static and kinematic equation. The condition number defined by the kinematic velocity and force analysis of F/T sensor is used as a performance Index. Thus, 4 optimal structure factors of 6 D.O. F. F/T sensor are determined by using the condition number.
키워드