• 제목/요약/키워드: Development axis

검색결과 1,369건 처리시간 0.032초

미지물체를 안전하게 잡기 위한 6축 로봇손가락 힘/모멘트센서의 개발 (Development of a 6-axis Robot's Finger Force/Moment Sensor for Stably Grasping an Unknown Object)

  • 김갑순
    • 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.

인간형 로봇을 위한 6축 힘/모멘트센서 개발 (Development of 6-axis force/moment sensor for a humonoid robot)

  • 김갑순;신희준
    • 센서학회지
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    • 제16권3호
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    • pp.211-219
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    • 2007
  • This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

100 kW급 조류발전용 듀얼 수직축 터빈의 성능특성 연구 (Investigation on Performance Characteristics of Dual Vertical Axis Turbine of 100 kW Class Tidal Energy Convertor)

  • 허만웅;김동환;박진순
    • 한국수소및신에너지학회논문집
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    • 제31권1호
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    • pp.151-159
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    • 2020
  • This study aimed to investigate the performance characteristics of vertical axis turbine of tidal energy convertor. Three-dimensional Reynolds-averaged Navier-Stokes equation with shear stress transport turbulence model has been solved to analyze the fluid flow of the vertical axis turbine. The hexahedral grids have been used to construct the computational domain and the grid dependency test has been performed to find the optimum grid system. Four steps have been carried out to design the vertical axis turbine of the 100 kW class tidal energy convertor.

지능형 로봇 발을 위한 6 축 힘/모멘트센서 개발 (Development of 6-axis force/moment sensor for an intelligent robot's foot)

  • 김갑순;신희준;허덕찬;윤정원
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2007년도 춘계학술대회A
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    • pp.1097-1102
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    • 2007
  • This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

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Baffle design and test for wide-field off-axis telescopes

  • 김상혁;박수종;장성혁;김권희;양순철;;허명상;임명신
    • 천문학회보
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    • 제38권1호
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    • pp.72.2-72.2
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    • 2013
  • An off-axis telescope has several advantages in optical performance comparing with a conventional on-axis telescope. However, in general, an off-axis telescope has a narrow field of view due to the linear astigmatism caused by the asymmetric structure. It was shown in the previous work that the linear astigmatism can be eliminated by properly configuring parameters in a confocal off-axis reflector system. Furthermore, the third order aberrations of a confocal off-axis telescope can be minimized by optimizing the shape of the mirrors. Despite many advantages, the confocal off-axis telescopes have been evaded because of difficulties of off-axis mirror fabrication, alignment process and unaccustomed off-axis baffle design. The baffle for the off-axis telescope should be designed considering that the effects of stray lights are different because of the asymmetry of off-axis system. In this poster, the design, manufacturing, and test for the baffle and housing of an off-axis telescope are presented.

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

  • 김갑순;이헌두;박인철;손영훈
    • 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.

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

  • 김갑순;이상호
    • 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.

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로봇용 6축 힘/모멘트 센서를 위한 고성능측정기 개발 (Development of High-Precision Measuring Device for Six-axis Force/Moment Sensor)

  • 신희준;김갑순
    • 한국정밀공학회지
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    • 제24권10호
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    • pp.46-53
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    • 2007
  • This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

다축 힘/모멘트 센서 교정기의 개발 및 그의 불확도 평가 (Development of Calibration System for Multi-Axis Force/Moment Sensor and Its Uncertainty Evaluation)

  • 김갑순;윤정원
    • 한국정밀공학회지
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    • 제24권10호
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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 ${\pm}Mz$.