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김갑순(Gab-Soon Kim),신희준(Hyi-Jun Shin),김현민(Hyeon-Min Kim) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
This paper describes the development of multi-axis force/moment sensor calibration system and its uncertainty evaluation. This sensor, which has maximum capacities of 2000N in forces and 400Nm in moments, can generate the continuous forces (±Fx, ±Fy and ±Fz) and moments (±Mx, ±My and ±Mz.). In order to be used multi-axis force/moment sensors in many kinds of industries, they are carried out the characteristic test or the calibration with the system that can generate the forces and the moments. The developed calibrating systems are the disadvantages of the low capacity, the generation of step force and moment with weights, the high coasts in manufacture and so on. In this paper, the multi-axis force/moment sensor calibration system that can generate the continuous forces and moments was developed. Its maximum capacities are 2000N in forces and 400Nm in moments. And the system was evaluated in the expanded relative uncertainty. They were ±0.0004 in forces ±Fx , ±Fy, ±Fz, and ±0.0004 in moments ±Mx, ±My, ±Mz.
김갑순(Gab-Soon Kim),신희준(Hyi-Jun Shin),허덕찬(Duk-Chan Hu),윤정원(Jungwon Yoon) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
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 (platebeams) 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.
김갑순(Gab-Soon Kim),김천곤(Cheon-Kon Kim),신희준(Hyi-Jun Shin),김현민(Hyeon-Min Kim),윤정원(Jungwon Yoon) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
This paper describes the development of 6-axis ankle force/moment sensor for an intelligent foot a humanoid robot. In order to safely walk on uneven terrain in humanoid robot’s walking, 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 ankle 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. In this paper, the structure of a 6-axis ankle force/moment sensor “which has the rectangular beams for the lots of design variables and the proper size for mounting to robot’s ankle” was modeled and manufactured for a humanoid robot’s foot newly. And, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.
김갑순(Gab-Soon Kim),국금환(Gum-Hwan Kuk),신희준(Hyi-Jun Shin),김현민(Hyeon-Min Kim),정동연(Dong-Yean Jung) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
This paper describes the development of a small lens molding system for manufacturing the small lens like lens of a cellular phone, a small digital camera and so on. In order to manufacture a small lens, firstly, the raw material for lens with spherical shape should be manufactured by processing a glass, secondly, the mold inserted the raw material for lens should be heated till its molding temperature in the electric furnace, finally, the small lens is manufactured by applying the force using pressuring control system. In this paper, the small lens molding system with the function of force control and velocity control was developed. It is composed of a electric furnace and its temperature control system, a pressuring control system, a body, and so on. The temperature characteristic test of the electric furnace, and the force and velocity characteristic test of the pressuring control system were carried out. It was confirmed that the developed system had good functions for manufacturing a small lens.