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- 저자 : 김천곤(Cheon-Kon Kim) (검색결과 1 건)
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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%.
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