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Design of Three-Axis Force/Torque Sensor for Rehabilitation Robot
정재현(Jae-Hyun Jung),김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2016 한국정밀공학회지 Vol.33 No.4
In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.
정재현,서성관,추용식,Jung, Jae-Hyun,Seo, Seong-Kwan,Chu, Yong-Sik 한국자원리싸이클링학회 2016 資源 리싸이클링 Vol.25 No.6
제지산업은 다량의 산업부산물을 배출하고 있으며, 제지애쉬 발생량도 증가하고 있다. 본 연구에서는 제지애쉬를 시멘트 혼합재로 사용하기 위해서 수화수를 사용하여 전처리 하였다. 전처리 제지애쉬와 석고를 혼합하여 혼합재를 제조하였으며, 이후 시멘트를 대체하여 사용하였다. 제지애쉬 혼합시멘트는 제지애쉬 함량에 따라 물성이 변화하였으나, 10% 이하 사용시에는 기존 OPC와 동등 물성이 발현되었다. 이때 압축강도는 수화물 중 $Ca(OH)_2$의 생성량과도 일정 상관성을 나타내었으며, 3일 강도는 $Ca(OH)_2$ 함량이 증가할수록, 28일 강도는 감소할수록 압축강도가 증가하였다. Paper industry discharges many by-products and quantity of PSA (Paper sludge ash) has been increased. In this study, hydration water was added to PSA for use as cement admixture. PSA with added water was mixed with anhydrite and this mixture was used as cement substitute. Physical properties of PSA cement were changed by contents of PSA, but PSA cement containing PSA less than 10% had similar properties to those of OPC. Compressive strength of PSA cement mortar had a certain relationship with $Ca(OH)_2$ content. Compressive strength at 3 days increased, as $Ca(OH)_2$ content increased. However, the strength at 28 days increased, as $Ca(OH)_2$ content decreased.
정재현 ( Jae-hyun Jung ),박동연 ( Dong-yeon Park ),고국원 ( Kuk-won Ko ),김성기 ( Sung-Ki Kim ) 한국정보처리학회 2014 한국정보처리학회 학술대회논문집 Vol.21 No.2
일상에서 좁은 공간에 있는 무거운 물건을 쉽고 편리하게 들어 올리거나 이동시키는 들어 올림 기구의 수요가 있다. 본 연구에서는 일상에서 공간의 제약을 극복하고,무거운 물건을 들어 올려,다양한 작업 응용에 활동하는 기구를 설계하고,3차원 컴퓨터 설계 모형을 제시한다.