한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

한국정밀공학회 (Korean Society for Precision Engineering)
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외력에 반응하는 인간형 로봇의 머리를 위한 6 축 힘/모멘트 센서 개발

Development of 6-axis Force/moment Sensor for Humanoid Robot's Head Reacting to a External Force

  • 김갑순 (경상대학교 제어계측공학과, ERI)
  • Kim, Gab-Soon (Department of Control and Instrumentation Engineering, Gyeongsang National Univ.)
  • 발행 : 2009.12.01
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초록

When external force is applied to humanoid robot's head, humanoid robot's neck is rotated to prevent the damage of it. So, robot's neck have to perceive forces (Fx of x-direction, Fy of y-direction and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of z-direction) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot's head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot's head.

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참고문헌

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