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토크 오차 감소를 위한 디스크형 커플링을 갖는 토크센서가 내장된 로봇 관절모듈
민재경(Jae-Kyung Min),김휘수(Hwi-Su Kim),송재복(Jae-Bok Song) 대한기계학회 2016 大韓機械學會論文集A Vol.40 No.2
기존에는 로봇 말단에 6축 힘/토크 센서를 부착하여 로봇의 힘제어 및 충돌감지를 수행하였지만, 이 방법은 매우 고가이고, 로봇의 몸체에서 발생한 충돌을 감지할 수 없었다. 이의 대안으로 각 관절에 관절 토크센서를 장착하였으나, 토크 측정 시에 발생하는 다양한 오차로 인하여 실제 적용에 한계가 있었다. 이러한 문제를 해결하고자 본 연구에서는 정확한 토크 측정을 위한 관절 토크센서 및 이를 포함하는 관절모듈을 개발하였다. 제안된 관절모듈은 로봇에 인가되는 모멘트 부하를 지지하고, 조립 시 발생하는 응력을 감소시키기 위하여 토크센서에 디스크형 커플링을 첨가하여 원하는 회전토크만을 효과적으로 측정할 수 있도록 하였다. 본 논문에서는 다양한 실험을 통하여 제안한 토크센서의 성능을 검증하였다. Force control and collision detection for a robot are usually conducted using a 6-axis force/torque sensor mounted at the end-effector. However, this scheme suffers from high-cost and the inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, which also suffered from various errors in torque measurement. To resolve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque under consideration. This joint design also aims to reduce the stress induced during the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.
박희창,안국현,민재경,송재복 한국로봇학회 2020 로봇학회 논문지 Vol.15 No.1
Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot’s weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.
미용인의 여가활동유형과 여가만족이 직무만족에 미치는 영향
한사비나,김두리,김정민,남궁선희,민재경 한국네일미용학회 2019 한국네일미용학회지 Vol.7 No.1
This study examines the current state of beauty care and demands for beauty care for the elderly over the age of The purpose of this study was to examine the types of leisure activity of estheticians working today and to find out the relationship between leisure satisfaction and job satisfaction. For this purpose, we surveyed 176 estheticians living in Gyeonggi-do Province and obtained 171 samples for frequency analysis, cross analysis, and multiple regression analysis. The research results are follows. First of all, the characteristics of leisure activities of estheticians were examined, and they were found to mainly enjoy recreation and relation activities. In addition, it was revealed that recreational type and relaxation type dominated by occupation. Lastly, the result of analyzing the relationship between the leisure satisfaction and job satisfaction of estheticians showed statistically significant differences. Job satisfaction, dependent variable, was affected by some sub-variables of leisure satisfaction such as psychological satisfaction, social satisfaction, aesthetic satisfaction, and relaxed satisfaction in order by standardized (β) coefficients. But educational and physical satisfaction were not statistically significant and not positively correlated with job satisfaction.