• Title/Summary/Keyword: 6축

Search Result 1,831, Processing Time 0.029 seconds

Development of a 6-axis robot's finger force/moment sensor for making a robot's gripper (로봇의 그리퍼 제작을 위한 6 축 로봇손가락 힘/모멘트센서의 개발)

  • Kim, Gab-Soon;Lee, Hun-Doo;Park, In-Chul;Son, Young-Hun
    • Proceedings of the KSME Conference
    • /
    • 2003.04a
    • /
    • pp.758-763
    • /
    • 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.

  • PDF

Development of a small 6-axis force/moment sensor for robot's finger (로봇 손가락용 소형 6축 힘/모멘트센서 개발)

  • 김갑순;이상호
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • 2003.06a
    • /
    • pp.490-493
    • /
    • 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.

  • PDF

Correlations between Axial Rotation of Toric Soft Contact Lenses and Corneal Eccentricity according to the Wearing Time and Gaze Directions (착용시간 및 응시방향에 따른 토릭소프트콘택트렌즈의 축 회전과 각막이심률과의 상관관계)

  • Seo, Woo Hyun;Kim, So Ra;Park, Mijung
    • Journal of Korean Ophthalmic Optics Society
    • /
    • v.21 no.1
    • /
    • pp.35-45
    • /
    • 2016

  • Purpose: The present study was aimed to investigate the effect of corneal eccentricity on the axial rotation when wearing toric soft contact lenses were worn for certain time and changing the gaze directions. Methods: Toric soft contact lenses with double thin zone design applied on 85 of with-the-rule astigmatic eyes. Then, rotational direction and amount of contact lenses were measured after 15 minutes and 6 hours of lens wear. The difference was further compared and analyzed according to corneal eccentricity. Results: The rotation of toric lens showed a tendency to rotate to temporal direction in all gaze directions except temporal-upper direction in all groups of corneal eccentricity. The amount of lens rotation in the frontal gaze direction exhibited a negative correlation since the amount was decreased with increasing corneal eccentricity after both 15 minutes and 6 hours of lens wearing. In many cases, the cornea with small eccentricity also showed the lens rotation larger than $10^{\circ}$. The difference in rotational amount after 15 minutes of toric lens wear was small according to the corneal eccentricity however, the change of rotational amount of contact lens according to corneal eccentricity was shown after 6 hours of lens wear. Conclusions: The present study revealed that the amount of axial rotation was largely varied according to the wearer's corneal eccentricity when wearing toric lens and the rotational amount after certain time of lens was also affected by corneal eccentricity. Thus, it is suggested that the selection of toric soft contact lenses based on corneal eccentricity is necessary.

  • https://doi.org/10.14479/jkoos.2016.21.1.35 인용 PDF KSCI