한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제33권4호
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  • Pages.309-316
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  • 2016
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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재활로봇용 3축 힘/토크센서 설계

Design of Three-Axis Force/Torque Sensor for Rehabilitation Robot

  • 정재현 (경상대학교 제어계측공학과) ;
  • 김갑순 (경상대학교 제어계측공학과)
  • Jung, Jae-Hyun (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University) ;
  • Kim, Gab Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 투고 : 2015.09.30
  • 심사 : 2016.01.20
  • 발행 : 2016.04.01
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초록

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

키워드

참고문헌

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