• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.91-98
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• 2007

This paper describes the development of the calibration system for a multi-axis force/moment sensor and its uncertainty evaluation. This calibration system can generate the continuous forces (${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$) and moments (${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$). Many kinds of multi-axis force/moment sensors in industries should be carried out the characteristic test or the calibration with the calibration system that can generate the forces and the moments. The calibration systems have been already developed are the disadvantages of the low capacity, the generation of step forces(10N, 20N ...) and step moments(1Nm, 2Nm ...) with weights, the high coasts in manufacture and so on. In this paper, the calibration system for a multi-axis force/moment sensor that can generate the continuous three forces and three moments was developed. Their ranges are $0{\sim}2000N$ in all force-directions and $0{\sim}400Nm$ in all moment-directions. And the system was evaluated in the expanded relative uncertainty. They were ${\pm}0.0004$ in all forces ${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$, and ${\pm}0.0004$ in all moments ${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1026-1029
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• 2003

There are always some errors in force sensing of multi-axis force sensors that aggravate sensor performance. Error sources may be classified mainly in two groups. One is structural error due to inaccuracy of sensor body, and the other is error due to noise signals existing in the sensed information. This paper presents a brief review about the principle of multi-axis force sensors, and then a method that can reduce the effect of noise signals. The method is to read digital signals in computer instead of analog voltage signals. We can eliminate the bad effect of electromagnetic waves emitted from computer and of 60 Hz noise emitted from AC source by the proposed method. The proposed method is investigated through experimental demonstration. The experimental results show the proposed method improves the sensor performance significantly.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.11
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• pp.2688-2695
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• 2000

In multi-axis force sensor, compliance matrices representing structural behaviour of internal sensor bodies play an important role in decoupled sensing and accuracy, Recently, error propagation through compliance matrices has been studied via approximation approach. However the upper bound of measured force error has not been known. In this paper, error propagation in force sensing is analysed in a unified way when both strain measurement error and compliance matrix error exist, and the upper bound of the measured force error is derived exactly(not approximately). The analysis is examined through a numerical example.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.177-180
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• 2001

This paper describes the calibration method and the evaluation method of relative expanded uncertainty for a multi-axis force/moment sensor. This sensor should be calibrated to be use in the industry. Now, the confidence of the calibration result is expressed with interference error. But it is no inaccurate, because an interference error, besides, a reproducibility error of the sensor, a error of this six-axis force/moment sensor calibrator, and so on. Thus, in order to accurately evaluate the relative expanded uncertainty of it, the concept of the uncertainty should be induced, and these errors must be contained in the relative expanded uncertainty. In this paper, the calibration method is exhibited and the evaluation method of the relative expanded uncertainty is also exhibited. And, a six-axis force/moment sensor was calibrated and the relative expanded uncertainty was evaluated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.481-485
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• 2003

This study describes the real-time measurement system which consist of multi-components load cell and linear motor. Operationg and data acquisition is controlled by PC. Multi-components load cell measures simultaneously the vertical force Fz and frictional force Fx when contactors move on sample surface. Linear motor is used to translate with constant speed without vibration. The frictional coefficient is calculated by Matlab$^{TM}$. The frictional coefficients between Al. plates. and fingertip and fabrics are measured.d.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.647-648
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.649-650
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• 2012

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.509-512
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• 2013

In this paper, force feedback control for industrial robots has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Conventionally, polished surface of the workpiece are recognized, chamfer ridge, machining processes such as deburring, and it is most difficult to automate because of its complexity, has been largely dependent on the human.

• Journal of Sensor Science and Technology
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• v.20 no.5
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.