• Journal of Sensor Science and Technology
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• v.25 no.2
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• pp.110-115
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• 2016

This paper describes the design and fabrication of a three-axis force sensor with three parallel plate structures(PPSs) for measuring force in a finger force measuring system for a spherical object catch. The three-axis force sensor is composed of a Fx force sensor, Fy force sensor and a Fz force sensor, and the elements of Fx force sensor and Fy force sensor are a parallel plate structure(PPS) respectively and Fz force sensor is two PPS. The three-axis force sensor was designed using FEM(Finite Element Method), and manufactured using strain-gages. The characteristics test of the three-axis force sensor was carried out. As a test results, the interference error of the three-axis force sensor was less than 1.32%, the repeatability error of each sensor was less than 0.04%, and the non-linearity was less than 0.04%.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.226-232
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• 2016

This paper describes the design of a smart three-axis force sensor for measuring forces Fx, Fy and Fz. The smart three-axis force sensor is composed of a three-axis force sensor, a force-measuring device, housing and a cover, where the three-axis force sensor and the force-measuring device are inside the housing and the cover. The measuring device measures forces Fx, Fy and Fz from the three-axis force sensor, and calculates the resultant force using the measured forces, and then sends the resultant force and forces to a PC or other controller using RS-485 communication. The repeatability error and the non-linearity error of the smart three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.87%. It is thought that the sensor can be used for measuring forces in a robot, automatic systems and so on.

• Journal of Sensor Science and Technology
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• v.26 no.2
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• pp.114-121
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• 2017

This paper describes the design and fabrication of a three-axis force sensor with parallel plate beams (PPSs) for measuring the calf force while a patient with a walking assist robot is walking. Current walking assist robots can't measure the weight of the patient's leg and the robot's leg which required for robot control. So, the three-axis force sensor in the calf link is designed and manufactured, it is composed of a Fx force sensor, a Fy force sensor and a Fz force sensor. The three-axis force sensor was designed using by FEM(Finite Element Method), and fabricated using strain-gages. The characteristics experiment of the three-axis force sensor was carried out respectively. The test results indicated that the repeatability error and the non-linearity error of three-axis force sensor was less than 0.04% respectively. Therefore, the fabricated three-axis force sensor in the calf link can be used to measure the patient's calf force in the walking assist robot.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.4
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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%.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.632-637
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• 2012

This paper introduces a simple and efficient calibration method for three-axis accelerometers and three-axis gyroscopes using three-axis motion rate table. Usually, the performance of low cost MEMS-based inertial sensors is affected by scale and bias errors significantly. The calibration of these errors is a bothersome problem, but the previous calibration methods cannot propose simple and efficient method to calibrate the errors of three-axis inertial sensors. This paper introduces a new simple and efficient method for the calibration of accelerometer and gyroscope. By using a three-axis motion rate table, this method can calibrate the accelerometer and gyroscope simultaneously and simply. Experimental results confirm the performance of the proposed method.

• Journal of Physiology & Pathology in Korean Medicine
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• v.17 no.6
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• pp.1347-1355
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• 2003

The adapted scope of the Opening-covering-axis of Three-yin-three-yang can summary two parts. the first, former treatise of Gyeng-Lak emphasized the line structure by point and line but now we can understand expansible structure as not only line but also space of structure by the space structure of six-meeting. So the application of Gyeng-Lak can be various by extensive analysis of the Hand-three-yin-three-yang in Sky(Yang) including the Foot-three-yin-three-yang in Ground (Vin), even if the original text has limited examples. The second, former additional explanations of Hwangjenegyeng Sanghanlon by doctors can be profoundly analysis about the pathology and cure process of Three-yin-three-yang of human body. It has base on the metaphorically symbolized theory of Three-yin-three-yang. This is the Saeng-jang-shu-chang of So-yin, Tae-yang, Yang-myeng, So-yang. Tae-yin, Guel-yin in order. Also the circulation of Opening-covering-axis of Three-yin-three-yang has order in Tae-yang (Opening), Yang-myeng (Covering), So-yang (Axis), Tae-yin (Opening), Guel-yin (Covering), So-yin(Axis).

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• Journal of Korean Institute of Industrial Engineers
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• v.21 no.2
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• pp.217-237
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• 1995

One of the most distinguished advantages of five-axis machining is that complex free surfaces(such as impeller) can be machined by one setup. Five-axis CNC machine, however, is very expensive so that its usage is restricted to a few large companies. As an economical approach to five-axis machining, this paper presents a method for machining the five-axis free surfaces(using ball-end mill) on a three-axis CNC machine with an index table. The method developed consists of: a) determining the minimum number of part setups and their interference-free and collision-free potential machining area, b) calculating actual machining area for each setup, and c) generating 3-axis cutter path for each part setup. The method has been successfully tested via computer simulations for several complex surfaces including impeller.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.105-111
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• 2003

The three-axis road simulator is the test equipment which can simulate the standardized road conditions for the durability evaluation of automotive components such as suspensions. The road load data are collected and acquired from a vehicle test, and then these data are used to simulate road load conditions by the road simulator which consists of hydraulic actuators, link mechanism and servo controller. The link mechanism must be designed in consideration of the dynamic effect and interference during three axes motions in order to generate accurate motions. In this paper, the structural and kinematic analysis of the link mechanism is performed, and these results can be used for developing the three-axis road simulator. The three-axis road simulator provides considerable savings in cost, development time, and testing risk during developing automotive components.

• Journal of the Korean Institute of Telematics and Electronics D
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• v.35D no.2
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• pp.33-39
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• 1998

A six-beam accelerometer with self-compensated off-axis sensitivity was fabricated onthe selectively diffused (111)-oriented n/n$^{+}$/n silicon substrates by a unique porous silicon micromachining technique, which has self-stip characteristics and highly seletive formation of porous silicon layer during anodic reaction. Also, the characteristics of the fabricated accelerometer were investigated. The sensitivity of the acceleormeter added up outputs of three bridges through a summing circuit was 0.68 mV/g and the nonlinearity was less than 2% of the full scale output. The measured first resonant frequency was 4.236 kHz. When the outputs of three bridges were compared to summing output of bridges obtained through summing circuit, the normal output for Z-axis acceleration exhibited the same value s summing outputs of three bridges without reduction of sensitivity and thus the sensitivity decrease due to additional beam was compensated. Although a maximum off-axis sensitivity in one bridge of the accelerometer showed 17% of normal sensitivity, the off axis sensitivity obtained from summing output of three bridges decreased to 1.0%. Therefore, the self-elimination of off-axis sensitivity can be simply realized by obtaining the output of the sensor through summing circuit.t.