• 센서학회지
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• 제23권2호
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• pp.127-133
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• 2014

This paper describes a design and manufacture of a two-axis force sensor and a single-axis force sensor for the fingers of an intelligent robot's hand. The robot's finger is composed of a two-axis force sensor, a first knuckle, a single-axis force sensor, a second knuckle, a spring, a motor of first knuckle, a motor of second knuckle, and so on. The two-axis force sensor attached to the first knuckle and the single-axis force sensor attached to the second knuckle were designed and manufactured, and the characteristics test of two sensors was carried out. As a test results, the interference error of the two-axis force sensor was less than 0.68%, the repeatability error of each sensor was less than 0.02%, and then the non-linearity was less than 0.03%. It is thought that the sensors can be used for the fingers of the intelligent robot's hand for rehabilitation exercise of finger patients.

• 한국정밀공학회지
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• 제18권2호
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• pp.214-221
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• 2001

This paper describes the design of 3-component force/moment sensor with the force and moment ratio of wide range. It can measure the x-direction force Fx, y-direction force Fy and z-direction moment Mz simultaneously. In order to accurately measure forces and moment using 3-component force/moment sensor, it should get suitable force and moment ratio(the ratio of force Fx=200 N and moment Mz=20 Nm is ten to one), and small interference error. In this paper, in order to design the 3-component force/moment sensor with the force and moment ratio of wide range, the procedures are performed as follow : 1) the derivation of the equations to predict the bending strains on the surfaces of the plate-beams under the force or the moments, 2) the determination of the size of the sensing elements of the force/moment sensor by using the derived equations, 3) the Finite Element Method(FEM) analysis and the characteristic test for confirming the strains from the theory analysis, 4) the selection of the attachment locations of the strain gages of each sensor, 5) the analysis of the rated strain and the interference error at the attachment location of strain gages. It reveals that the rated strains calculated from the derived equations make a good agreement with the results from the Finite Element Method analysis and the characteristic test.

• 한국공작기계학회논문집
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• 제17권5호
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• pp.70-75
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• 2008

This paper describes a tool-clamping/unclamping mechanism for application of a micro-spindle. The mechanism is based on one-way shape memory effect and interference-fit. The corresponding mathematical models and a few considerable design parameters are mentioned in this paper. Especially, necessary conditions for the clamping and unclamping operation are investigated through finite element analysis. The analysis results show that the differences between the diametral deformations of the tool holder in high temperature and that in low temperature are increased according to amounts of the interference. Thus the less interference between the tool-holder and the ring, the less tolerance to allow the clamping and unclamping operation because the inner diameter of the tool holder in high temperature should be smaller than the diameter of the tool shank, and that in low temperature should be larger than the diameter of the tool shank. In addition, the design for maximization of clamping force are investigated based on finite element analysis. The results show that the more amounts of the interference, the more clamping force. As the result, the interference should be considered as a important factor to maximize the tool clamping force.

• 센서학회지
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• 제25권2호
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• pp.148-154
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• 2016

This paper describes the design and fabrication of a two-axis force/torque sensor and an one-axis force sensor with parallel plate beams(PPSs) for measuring forces and torque in an ankle rehabilitation exercise using by a lower rehabilitation robot. The two-axis force/torque sensor is composed of a Fy force sensor and Tz torque sensor and the force sensor detects x direction force. The two-axis force/torque sensor and one-axis force sensor were designed using by FEM(Finite Element Method), and manufactured using strain-gages. The characteristics experiment of the two-axis force/torque sensor and one-axis force sensor were carried out respectively. As a test results, the interference error of the two-axis force/torque sensor was less than 1.56%, the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03% respectively, and the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03% and 0.02% respectively.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.357-363
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• 2013

Most serious patients who have the paralysis of their ankles can't use of their feet freely. But their ankles can be recovered by an ankle bending rehabilitation exercise and a ankle rotating rehabilitation exercise. Recently, the professional rehabilitation therapeutists are much less than stroke patients in number. Therefore, the ankle-rehabilitation robot should be developed. The developed robot can be dangerous because it can't measure the applied bending force and twisting moment of the patients' ankles. In this paper, the six-axis force/moment sensor for the ankle-rehabilitation robot was specially designed the weight of foot and the applied force to foot in rehabilitation exercise. As a test results, the interference error of the six-axis force/moment sensor was less than 2.51%. It is thought that the sensor can be used to measure the bending force and twisting moment of the patients' ankles in rehabilitation exercise.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.1011-1016
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• 2013

Patients have the paralysis of their wrists, and can't use of their wrists freely. But their wrists can be recovered by wrist-bending rehabilitation exercise. Professional rehabilitation therapeutists exercise the wrists of patients in hospital. But the wrists of patients have not exercised enough for the rehabilitation, because the therapeutists are much less than patients in number. Therefore, the wrist rehabilitation robot should be developed, and it have to measure the applied force to the patients' wrists for their safety. In this paper, the four-axis force/moment sensor was designed for the wrist rehabilitation robot. As a test results, the interference error of the four-axis force/moment sensor was less than 0.91%. It is thought that the sensor can be used to measure the applied force to the patients' wrists.

• 한국정밀공학회지
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• 제33권4호
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• pp.309-316
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• 2016

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

• 센서학회지
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• 제22권2호
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• pp.118-123
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• 2013

Most serious stroke patients have the paralysis of their wrists, and can't use of their hands freely. But their wrists can be recovered by rehabilitation exercise. Recently, professional rehabilitation therapeutists exercise the wrists of stroke patients in hospital. But the wrists of stroke patients have not rehabilitated, because the therapeutists are much less than stroke patients in number. Therefore, the wrist bending-exercise rehabilitation robot that can measure the bending force of the patients' wrists is developed. In this paper, the three-axis force sensor was designed for the wrist bending-exercise rehabilitation robot. As a test results, the interference error of the three-axis force sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist bending force of the patient.

• 센서학회지
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• 제24권2호
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• pp.137-143
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• 2015

This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient's arm pushed by a rehabilitation robot and the force of patient's arm. The Ty torque sensor measures the torque generated by a patient's arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.

• 소음진동
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• 제10권5호
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• pp.865-872
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• 2000

This paper presents the modeling, theoretical formulation, and stability analysis for a combined system of a spinning disc and a head that contacts the disc. In the analytic model, head interference is considered by a rotating mass-spring-damper system together with a frictional follower force on the damped annular discs. The multiple scale method is utilized to perform the stability system that shows the existence of instability associated with parametric resonances. Using the formulated system , instability regions of optical recording disc are investigated with variation of mass, stiffness and friction force of a head, respectively. The simulation results show that the stiffness of a head is the most sensitive parameter on the instability of the disc.