• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.222-232
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• 1999

This paper describes the development of a precision 3-component load cell with plate beams which may be used for measuring forces Fx, Fy and moment Mz simultaneously in industry. We have derived equations to predict the bending strains on the surface of the beams under forces or moment. We have also determined the attachment location of strain gages of each sensor and fabricated 3-component load cell. To evaluate the rated strain and interference error of each sensor, we have carried out characteristic test of precision 3-component load cell. It reveals that the rated strain calculated from the derived equations are good agreement with the results from Finite Element Method analysis.

• 한국정밀공학회지
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• 제15권8호
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• pp.109-115
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• 1998

This paper describes the development of a 6-component load cell with plate beams which may be used to measure forces Fx, Fy, Fz and moments Mx, My, Mz simultaneously in industry. We have analyzed the bending strains on the surface of the beams under forces or moments by using Finite Element Method and designed the sensing elements of 6-component load cell. We have also determined the attachment location of strain gages of each load cell and fabricated 6-component load cell. To evaluate the rated strain and interference error of each load cell, we have carried out characteristic test of 6-component load cell.

• 대한기계학회논문집A
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• 제40권1호
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• pp.53-63
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• 2016

자동차 주행 중 도로면으로부터 차량 바퀴에 전달되는 동하중을 측정하기 위해 휠 동력계가 사용된다. 본 논문에서는 전단 변형과 굽힘 변형을 이용한 두 가지 타입의 6축 휠 동력계를 설계하고 비교 평가하였다. 유한요소해석을 이용하여 휠 동력계 기본 구조에 대한 전단 변형 거동과 굽힘 변형 거동을 분석하였으며 이로부터 전단형 휠 동력계와 굽힘형 휠 동력계를 설계하였다. 변형률 해석을 반복 수행하여 각 하중에 대한 출력변형률이 미리 결정된 비슷한 값이 되도록 하고 상호간섭 변형률이 최소화 되도록 설계를 수정하고 브리지 회로를 구성하였다. 전단형 휠 동력계는 균일한 변형률 분포를 얻을 수 있어 제작시 안정된 특성치를 얻을 수 있는 반면에, 굽힘형 휠 동력계는 각 하중에 대한 출력 변형률 값이 더 일정하여 균일한 감도의 좋은 성능을 얻을 수 있을 것으로 예측된다.

• 한국정밀공학회지
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• 제24권3호
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• pp.47-54
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• 2007

This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper softly, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured farces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2019년도 추계학술대회
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• pp.46-48
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• 2019

본 논문은 Discontinuous Conduction Mode(DCM) 플라이백 컨버터로 생성한 고전압 펄스를 스파크 갭으로 펄스 상승 시간을 줄이는 방법에 관하여 다룬다. 이러한 방법으로 생성된 빠른 상승률 특성을 가지는 고전압 펄스 전원장치는 친환경 가스 처리 분야에 사용할 수 있다. 기존 스태킹 구조의 펄스 전원 장치는 많은 수의 스위치들과 에너지 저장 소자가 필요하므로 부피가 커지고 제조 단가가 증가하는 반면, 분 논문에 제안된 전원 장치는 구조를 단순화하여 전체 시스템의 소형화 및 제조 단가를 낮춘 점을 특징으로 한다. 제안된 설계 토폴로지는 플라이백 변압기 2차 측에 다이오드의 사용 유무에 따라 두 개의 변형된 회로로 응용 가능 하다. 변압기 2차측에 다이오드를 사용하면, 음의 성분 없이 깨끗한 고전압 출력 펄스를 만들 수 있지만 사용한 다이오드의 전압 정격을 고려해야 한다. 다이오드를 사용하지 않는다면, 고전압 출력 펄스에 음의 성분이 발생하지만 비용과 부피를 최대한 줄일 수 있다. PSIM 시뮬레이션을 사용하여 제안하는 전원 장치의 23kV, 0.5 ㎲, 10 ns rising time의 출력 펄스 발생 성능을 검증하고, 다이오드 사용에 따른 출력 펄스의 차이점을 비교하였다.

• 한국정밀공학회지
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• 제20권7호
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• pp.105-113
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.758-763
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for making a robot's gripper. In order to safely grasp and unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.490-493
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• 2003

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures forces Fx. Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction. and perform the control using the measured forces and moments. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My. Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed, and the result shows that interference errors or the developed sensor are less than 3%. Thus, the developed small 6-axis force/moment sensor may be used for robot's gripper.

• 한국정밀공학회지
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• 제21권3호
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• 대한기계학회논문집A
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• 제35권11호
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• pp.1407-1413
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• 2011

소형풍력발전시스템의 복합재 블레이드에 대한 실규모 구조시험 및 이를 모사한 구조해석을 통하여 설계 타당성을 검증하였다. 먼저 IEC 61400-2 에 규정된 설계 요구조건의 만족을 위하여 정격 풍속 및 IEC 61400-2 Case H 의 최악 조건에 대한 구조해석을 수행하고 이를 통하여 적층 순서 및 적층 두께를 결정하였다. 또한 이러한 구조해석의 타당성 검증을 위하여 IEC 61400-23 에 따라 구조해석과 동일한 하중조건에서의 실규모 구조시험을 실시하였다. 이러한 실규모 구조시험을 통한 구한 블레이드의 하중-변위 선도 및 표면의 변형률 특성을 이용하여 블레이드의 구조적 안전성을 평가하였다.