• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.222-232
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• 1999

This paper describes the development of a precision 3-component load cell with plate beams which may be used for measuring forces Fx, Fy and moment Mz simultaneously in industry. We have derived equations to predict the bending strains on the surface of the beams under forces or moment. We have also determined the attachment location of strain gages of each sensor and fabricated 3-component load cell. To evaluate the rated strain and interference error of each sensor, we have carried out characteristic test of precision 3-component load cell. It reveals that the rated strain calculated from the derived equations are good agreement with the results from Finite Element Method analysis.

• International Journal of Precision Engineering and Manufacturing
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• 제1권1호
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• pp.22-32
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• 2000

This paper describes the development of a precision 3-component load cell with plate beams which may be used for measuring forces Fx, Fy and moment Mz simultaneously in industry. The equations to predict the bending strains on the surface of the beams under forces or moment are derived, the attachment location of strain gages of each sensor is determined, and 3-component load cell is carried out. It reveals that the rated strain calculated from the derived equations are good agreement with the results from Finite Element Method analysis.

• 한국정밀공학회지
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• 제15권8호
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• pp.109-115
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• 1998

This paper describes the development of a 6-component load cell with plate beams which may be used to measure forces Fx, Fy, Fz and moments Mx, My, Mz simultaneously in industry. We have analyzed the bending strains on the surface of the beams under forces or moments by using Finite Element Method and designed the sensing elements of 6-component load cell. We have also determined the attachment location of strain gages of each load cell and fabricated 6-component load cell. To evaluate the rated strain and interference error of each load cell, we have carried out characteristic test of 6-component load cell.

• 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.

• 한국정밀공학회지
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• 제7권2호
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• pp.58-64
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• 1990

As the miniature load cells have small inner space and sensing elements of which are thin and very sensitive to manufacturing conditions, it is very difficult to predict the rated outputs and control them by using the compensation resistor. The very useful equation has been derived for calculation of theoretical rated outputs for diaphragm type miniature load cells when commercial diaphragm strain gages are used. Four diaphragm type miniature load cells of which capacities are from 300 N to 1, 000 N and outer diameters are 20 mm and 26.5 mm are manufactured. The differences between calculating results and actural ones are less than 5%. According to numerical analysis the decrease of rated outputs caused to main error is examined in existence of loading button.

• 센서학회지
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• 제30권1호
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• pp.42-46
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• 2021

In this paper, we describe the development of a force sensor to measure the tool gripping force of the BT50 spindle. The force sensor for a BT50 must be installed inside the gripping force tester; hence, it must be of an appropriate size and have a rated capacity suitable for measuring the gripping force. So, the structure of the force sensor for BT50 was modeled, the size of the sensing part was determined by structural analysis, and the force sensor was manufactured by attaching a strain gauge. The characteristic test results of the manufactured force sensor, indicated that the nonlinearity error, hysteresis error, and reproducibility errors were each within 0.91%, Therefore it was determined that the manufactured force sensor can be used for checking the spindle tool gripping force.

• Transactions on Control, Automation and Systems Engineering
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• 제3권1호
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• pp.66-70
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• 2001

This paper describes the design of a two-axis force sensor for robots finger. In detects the x-direction force Fx and y-direction force Fy simultaneously. In order to safely grasp an unknown object using the robots fingers, they should detect the force or gripping direction and the force of gravity direction, and perform the force control using the forces detected. Therefore, the robots hand should be made by the robots finger with tow-axis force sensor that can detect the x-direction force and y-direction force si-multaneously. Thus, in this paper, the two-axis force sensor for robots finger is designed using several parallel-plate beams. The equations to calculate the strain of the beams according to the force in order to design the sensing element of the force sensor are derived and these equations are used to design the aize of two-axis force sensor sensing element. The reliability of the derive equa-tions is verified buy performing a finite element analysis of the sensing element. The strain obtained through this process is compared to that obtained through the theory analysis and a characteristics test of the fabricated sensor. It reveals that the rated strains calculated from the derive equations make a good agreement with the results from the Finite Element Method analysis and from the character-istic test.

• 전기학회논문지
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• 제62권12호
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• pp.1668-1677
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• 2013

This paper deals with the power loss and thermal characteristics of induction motor for machine tools according to the rated power and speed. To reduce the fabrication error by thermal strain in rotational machine tools, we calculated the power loss and thermal behavior of induction motors. Firstly, the inverse design of general induction motors for machine tool spindle has been performed. The inverse design results are compared with the torque-speed characteristic curve in motor's catalog. The power loss are calculated by finite element method(FEM) at rated condition. Secondary, the transient thermal characteristics of induction motors are calculated by equivalent thermal resistance model from Motor-CAD S/W. The inverse design, power loss and thermal behavior calculation for induction motors with various rated power and speed has been performed. Finally, to verify the design and calculation process of induction motor, we implemented the experimental set with 0.4kW 1710rpm class industrial induction motor model. The obtained thermal characteristics of experimental model confirmed that the design and power loss calculation processes are appropriate to the prediction of thermal strain in rotational machine tools.

• 한국정밀공학회지
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• 제24권7호
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• pp.90-97
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• 2007

This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. 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 and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) 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 by ANSYS software (FEM (Finite Element Method) program). Then, a 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.

• 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.