• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• 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.

• 한국생산제조학회지
• /
• 제23권5호
• /
• pp.435-442
• /
• 2014

This paper describes an improved design model that can be used to configure a non-contact pneumatic device to turn a large sheet at the in-line system. For rotational moving in the conveyor system, the conventional method is to turn the system itself. The improved non-contact pick-up system mainly uses 8 pairs of L-shaped latches and 12 swirl type heads. It is positioned above the upward air flow table. This system performs the non-contact gripping and side-edge contact support in the vertical and rotational directions to hold the self-weight of a large flat sheet. A non-contact air head can exert a sufficient gripping ability at 4N lower than the standard working pressure. The side latches support 60% of the lifting force required. Through structural and flow analysis, the working conditions were simultaneously considered in accordance with the deflection and flatness of the glass.

• 대한기계학회논문집A
• /
• 제34권11호
• /
• pp.1741-1747
• /
• 2010

본 연구에서는 원격 조정 매니퓰레이터에 적용할 수 있는 보급형 서비스 로봇 암을 개발하였다. 생체 모방학을 활용하여 새로운 형태의 로봇 손에 대한 개념을 도출하였다. 손가락과 손목은 인체 팔의 근골격에 분석을 통하여 상박에 설치된 와이어와 액추에이터에 의하여 구동된다. DC 모터에 의해 구동되는 스크류-너트 매커니즘을 통하여 구동 케이블에 높은 장력을 발생시킨다. 파지력의 쉬운 제어를 위하여 스크류-너트 메커니즘에 조합 스프링을 적용하였다. 첫 번째 설계에서 손가락 제어 문제, 손가락과 손목 운동의 간섭 문제가 발견되었다. 트리즈의 모순 분석을 통하여 이러한 문제에 대한 해결안을 도출하였다. 두 번째 설계에 대하여 다양한 형태와 무게의 물체에 관하여 파지와 동작 테스트를 시행하였다.

• 한국정보통신학회논문지
• /
• 제18권2호
• /
• pp.276-281
• /
• 2014

본 논문은 산업용 로봇을 위한 힘 피드백 제어는 사람의 감각을 기반으로 한 작업을 대체하여 구현하기에 적합한 연마 시스템을 제안하였다. 기존 연마작업의 표면 연마, 비드처리, 기계 가공 디버링 등의 공정은 그 복잡성에서 자동화가 가장 곤란하다고 인식되어 주로 인력에 의존 해왔다. 본 연구에서는 연마 공구를 파지시킨 힘 제어 로봇에 의한 자동 연마 시스템의 구축과 힘 센서로부터 신호 피드백 제어 방식의 특성 파악과 연마 공정에 적응성을 검증했다. 또한 실용화를 목적을 위한 선박의 바닥 및 측면 연마에의 응용을 진행했다. 따라서 자체 제작한 연마로봇을 활용 한 표면 연마작업을 통하여 실험결과를 검증하였다.

• 센서학회지
• /
• 제20권3호
• /
• pp.172-177
• /
• 2011

Finger patients can't use their hands because of the paralysis their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by measuring the pressing force to be contacted with two fingers(thumb and first finger, thumb and middle finger, thumb and ring finger, thumb and little finger). At present, most hospitals have used a thin plastic-plate for measuring the two-finger grasping force, and we can only judge that they can grasp the plate with their two-finger through it, because the plate can't measure the two-finger grasping force. But, recently, the force measuring system for measuring two-finger grasping force was developed using three-axis force sensor, but it is very expensive, because it has a three-axis force sensor. In this paper, two-finger force measuring system with a one-axis force sensor which can measure two-finger grasping force was developed. The one-axis force sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP(Digital Signal Processing). Also, the grasping force test of men was performed using the developed two-finger force measuring system, it was confirmed that the grasping forces of men were different according to grasping methods, and the system can be used for measuring two-finger grasping force.

• 한국생산제조학회지
• /
• 제8권3호
• /
• pp.107-113
• /
• 1999

The purpose of this study is to analyze multi-size power chuck which can chuck work pieces having various sizes automatically and be used suitably to an exclusive product line in the field of automotive industry. Gripping force, accuracy, and stiffness about the chuck are especially considered for the analysis. MSC/NASTRAN software is used for FEM analysis. Also, the effects of centrifugal force which occurs when chuck body rotates and compressive stresses which occur at contacting area in between chuck body and collet are estimated.

• 로봇학회논문지
• /
• 제10권4호
• /
• pp.193-199
• /
• 2015

This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.

• 한국기계가공학회지
• /
• 제21권4호
• /
• pp.31-38
• /
• 2022

In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknown objects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit, and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which the gripper is attached are measured and calculated at high speeds. The gripping force is determined based on this value, and the object must be safely gripped with the determined value. A basic characteristic test of the control device of the manufactured intelligent gripper was conducted, and it was confirmed that it operated safely.

• International Journal of Precision Engineering and Manufacturing
• /
• 제5권3호
• /
• pp.54-61
• /
• 2004

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces $F_x$(x-direction force), $F_y$and $F_z$, and moments $M_x$ (x-direction moment), $M_y$ and $M_z$ simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments $M_x$, $M_y$ and $M_z$ to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces $F_x$, $F_y$ and $F_z$, and moments $M_x$ $M_y$ and $M_z$ simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated 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 using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.

• 한국산학기술학회논문지
• /
• 제13권3호
• /
• pp.1229-1237
• /
• 2012

본 연구는 파악력의 강도가 두 가지 팔 자세에서 어깨근육 근활성도에 어떠한 영향을 미치는지 알아보기 위하여 실시되었다. 건강한 성인 22명(남 11명, 여 11명)을 대상으로 실시하였고, 4가지 파악력(최대 파악력의 0%, 30%, 50%, 70%)을 팔의 중립 자세와 팔 $90^{\circ}$ 거상 자세에서 적용 했을 때 상승모근, 하승모근, 극하근, 전삼각근, 후삼각근의 근활성도를 표면 근전도를 이용하여 측정하였다. 팔 중립 자세에서는 파악력의 강도에 따라 극하근, 전삼각근, 후삼각근이 유의한 차이를 보였고(p<0.05), 팔 $90^{\circ}$ 거상 자세에서는 전삼각근, 후삼각근이 유의한 차이를 보였다(p<0.05). 본 연구의 결과, 2가지 팔의 자세에서 각각 파악력의 강도에 따라 어깨근육 근활성도가 변화됨을 확인하였다. 손 쥐기 과제를 중립자세에서 실시할 경우 어깨관절 안정근인 극하근이 활성화되고, 팔 $90^{\circ}$ 거상 자세에서는 삼각근을 억제된다는 점을 고려하여, 손을 사용하는 작업 시 인간공학적 접근으로 어깨 손상의 예방과 손상 후 재활 훈련 시 효율적인 전략으로 사용할 수 있을 것으로 여겨진다.