100Nm 실하중 토크 표준기의 설계

김갑순(Gab-Soon Kim),강대임(Dae-Im Kang) 한국정밀공학회 1999 한국정밀공학회 학술발표대회 논문집 Vol.1999 No.5월

3 축 힘센서를 이용한 지능형 그리퍼 개발

김갑순(Gab-Soon Kim) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.3

This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper safely, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.

DSP를 이용한 로봇의 그리퍼 제어장치의 개발

김갑순(Gab-Soon Kim) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.5

This paper describes the design and implementation of a robot's gripper control system. In order to safely grasp an unknown object using the robot's gripper, the gripper should detect the force of gripping direction and the force of gravity direction, and should perform the force control using the detected forces and the robot's gripper control system. In this paper, the robot's gripper control system is designed and manufactured using DSP(Digital Signal Processor), and the gripper is composed of two 6-axis force/moment sensors which measures the Fx force(force of x-direction), Fy force, Fz force, and the Mx moment(moment of x-direction), My moment, Mz moment at the same time. The response characteristic test of the system is performed to determine the proportional gain Kp and the integral gain Ki of PI controller. As a result, it is shown that the developed robot's gripper control system grasps an unknown object safely.

인간형 로봇의 지능형 발을 위한 6축 발목 힘/모멘트센서

김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.1

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages 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 get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 ㎜ and the height should be below 40㎜. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching strain￢gages on the sensing elements, finally, 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%.

화염방지장치용 프레임 엘리멘트의 자동제작장치의 개발

김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.12

This paper describes the development of automatic making system of a frame element for flame prevention. The frame element is made by turning a thin plate and a formed plate on the small pipe. The couple plate (two plates) should be pulled with constant force to manufacture a good frame element. This is because if the gap between one couple plate and other couple plate is different, it will not prevent flame. In this paper, the automatic making system of a frame element for flame prevention was made, and which could automatically manufacture a frame element. The characteristic test of the made frame element by that system was performed, and its result was very good.

성인 체중을 고려한 로봇의 지능형 발을 위한 6축 힘/모멘트센서 개발

김갑순(Gab-Soon Kim),윤정원(Jungwon Yoon) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.7

This paper describes the development of 6-axis force/moment sensor considered adult weight for 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 100N, 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.

사람 보행시 발바닥의 힘정보를 측정하기 위한 지능형 신발시스템 개발

김갑순(Gab-Soon Kim),김현민(Hyeon-Min Kim),허덕찬(Duck-Chan hu) Korean Society for Precision Engineering 2008 한국정밀공학회지 Vol.25 No.7

This paper describes the development of wearing intelligent shoe system to measure applied forces and moments (ground reaction forces and moments) on the soles of feet during human walking. In order to walk safely, robot must get the intelligent feet with 6-axis force/moment sensors (Fx sensor (x-direction force sensor), Fy sensor, Fz sensor, Mx sensor (Mx : x-direction moment sensor), My sensor, and Mz sensor) and detect the forces and moments data from the sensors. And the feet must be controlled with the data and controllers. While a human is walking, the forces and moments should be measured and analyzed for robot's intelligent feet. Therefore, the wearing intelligent shoe system should be developed. In this paper, four 6-axis force/moment sensors and two high speed measuring devices were designed and fabricated, and the wearing intelligent shoe system was made using these. The characteristic tests of the wearing intelligent shoe system were performed, and the forces and moments were detected using it.

6축 힘/모멘트센서를 가진 인간형 로봇의 지능형 발 개발

김갑순(Gab-Soon Kim),김현민(Hyeon-Min Kim),윤정원(Jungwon Yoon) Korean Society for Precision Engineering 2009 한국정밀공학회지 Vol.26 No.5

This paper describes a humanoid robot’s intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn’t get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the soles of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the sixaxis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot’s intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

지능형 로봇 발을 위한 6축 힘/모멘트센서 개발

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.

사람의 평형감각 측정시스템 개발

김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2009 한국정밀공학회지 Vol.26 No.11

This paper describes the development of the new type equilibrium sensation measuring system for human with handicap in the equilibrium sensation. The medium and small hospital could not use the developed equilibrium sensation measuring system, because it is very high prices. Therefore, the new type system should be developed to measure the numerical value of the equilibrium sensation in human with handicap. In this paper, First, two 3-axis force/moment sensors which can measure force Fz, moments Mx and My simultaneous were designed and manufactured, second, the high speed measuring device which can acquire the output from two 3-axis force/moment sensors, third, the new type equilibrium sensation measuring system was developed, then the characteristic test of the developed equilibrium sensation measuring system carried out, it is confirmed that the system could measure the swing body of human with handicap.