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로봇의 그리퍼 제작을 위한 6 축 로봇손가락 힘/모멘트센서의 개발
김갑순(Gabsoon Kim),이헌두(Hundoo Lee),박인철(Inchul Park),손영훈(Younghun Son) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
This paper describes the development of a 6-axis robot’s finger force/moment sensor, which measures<br/> forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for making a robot’s gripper. In order to safely<br/> grasp an unknown object using the robot’s gripper, it should measure the force in the gripping direction and<br/> the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot’s<br/> gripper should be composed of 6-axis robot’s finger force/moment sensor that can measure forces Fx, Fy, Fz,<br/> and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot’s finger force/moment sensor for<br/> measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several<br/> parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. Also,<br/> Robot’s gripper with the 6-axis robot’s finger force/moment sensor for the characteristic test of force control<br/> was manufactured, and the characteristic test for grasping an unknown object was performed using it.
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