한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제21권2호
  • /
  • Pages.63-70
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  • 2018
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  • 1226-833X(pISSN)
  • /
  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
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위치/힘 동시제어를 위한 F/T측정 기능을 갖는 6축 순응기구 설계

Design of a 6-axis Compliance Device with F/T Sensing for Position/Force Control

  • Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
  • 투고 : 2018.01.17
  • 심사 : 2018.03.05
  • 발행 : 2018.03.31
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초록

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

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참고문헌

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