• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• Journal of Sensor Science and Technology
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• v.11 no.4
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• pp.191-199
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• 2002

This paper presents the design concept, theoretical investigation, and fabrication of a six-degree of freedom (6-DOF) turbulent flow micro sensor utilizing the piezoresistive effect in silicon. Unlike other flow sensors, which typically measure just one component of wall shear stress, the proposed sensor can independently detect six components of force and moment on a test particle in a turbulent flow. By combining conventional and four-terminal piezoresistors in Si (111), and arranging them suitably on the sensing area, the total number of piezoresistors used in this sensing chip is only eighteen, much fewer than the forty eight piezoresistors of the prior art piezoresistive 6-DOF force sensor.

• Journal of the Korea institute for structural maintenance and inspection
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• v.27 no.3
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• pp.12-20
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• 2023

This study presents basic data on how to secure stability by analyzing the change in tensile force of steel rod and the inclination characteristics of PSC BOX in the "Temporary fixation system using internal prestressing tendon", which is mainly applied to construction of superstructures by FCM. To date, it has been difficult to confirm the changes in tension force of the steel rod and the inclination of the PSC BOX because the steel rod was installed vertically inside the pier and the PSC BOX. Therefore, measurement of the change in length of the steel rod and the displacement of PSC BOX were performed using a micro-measured FBG sensor. Comparisons of the calculated tensile force and the residual tensile force of the steel rod revealed that the safety factor decreased in all bridges. The cause was mainly identified to be the loss of tensile force in fixation~1segment, and countermeasures are suggested. The analysis of the inclination characteristics showed that the inclination increased with the segment progresses even in bridges with sufficient safety factor, and the difference before and after the segment was confirmed. In addition, the increase in inclination was related to the loss of tension force in the steel rod, and the stress on the opposite sides of the inclination was further reduced. It is believed that upward tensile force is generated in the steel rod on the opposite side of the inclined side due to the unbalanced moment, causing the difference in stress of the steel rod between the two sides.