• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.68-72
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• 1997

This paper presents the design and the evaluation of the 6-component force/moment calibration machine which h a s t h e maximum capacities of 500 N in forces and 50 Nm in moments. This calibration machine consists of body. fixture. force generating system, moment generating system. The expanded uncertainty of the calibration machine is evaluated by calculating the A type uncertainty. $U_A$ and B type uncertainty, $U_B$. The evaluation results. this system has the expanded uncertainty of less than $2{\times}10^[-2]$ in respective force and moment components.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.46-53
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• 2007

This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2004.03a
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• pp.357-364
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• 2004

A computational study on the supersonic flow around the lateral jet controlled missile has been performed. Case studies have been performed by comparing the normal force coefficient and the moment coefficient of a missile body for several different jet flow conditions, angle of attacks, circumferential jet locations, and spouting jet angles. For the several different jet flow conditions, which include the jet pressure, the jet Mach number, and the corresponding jet mass flow rate, the results show that the normal force coefficient is almost proportional to the jet thrust but the moment coefficient is not. Distinctly different flow phenomena can be noticed as the pressure ratio and the jet Mach number increase. By investigating the angle of attack effect to the normal force and the pitching moment, it has been identified that the normal force and the pitching moment show nonlinearity with respect to the angle of attack. From the detailed flow field analyses with respect to the jet flow conditions and the angle of attacks, it is verified that most of the normal force loss and the pitching moment generation are taken place at the low-pressure region behind the jet nozzle. Furthermore, the normal force and the pitching moment characteristics of the missile have been identified by comparing different circumferential jet locations and spouting jet angles.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1011-1016
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• 2013

Patients have the paralysis of their wrists, and can't use of their wrists freely. But their wrists can be recovered by wrist-bending rehabilitation exercise. Professional rehabilitation therapeutists exercise the wrists of patients in hospital. But the wrists of patients have not exercised enough for the rehabilitation, because the therapeutists are much less than patients in number. Therefore, the wrist rehabilitation robot should be developed, and it have to measure the applied force to the patients' wrists for their safety. In this paper, the four-axis force/moment sensor was designed for the wrist rehabilitation robot. As a test results, the interference error of the four-axis force/moment sensor was less than 0.91%. It is thought that the sensor can be used to measure the applied force to the patients' wrists.

• Structural Engineering and Mechanics
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• v.49 no.1
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• pp.23-40
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• 2014

In this article, using finite element method of analysis (FEM), behavior of the endplate moment connection subjected to axial force and bending moment is investigated. In the FEM model, all the nonlinear characteristics such as material, geometry, as well as contact have been included. First, in order to verify the numerical model of the connection, an analysis of the endplate moment connection conducted without the application of the axial force. Results obtained from FEM indicating a close and good correlation with the experimental results. Then to investigate the influence of the axial forces, the connections subjected to axial forces as well as the bending moment are analyzed. To observe the overall effect of these actions, the momentaxial force interaction diagrams are drawn. It is observed that the presence of axial force even in a small value can change the behavior of the connection significantly. It is also shown that the axial forces can alter the failure mode of the connection; and therefore it could result in a different than the predicted moment capacity of the connection.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.12
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• pp.1695-1702
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• 2015

This paper presents the characteristic analysis and experiment of force characteristics in permanent magnet linear synchronous motor for accuracy prediction of linear motion machine tools. In particular, the pitching moment resulting from attraction force ripple has been analysed and tested. Firstly, we analysed the characteristics of detent force, attraction force, and pitching moment in permanent magnet linear synchronous motor according to the design techniques such as auxiliary teeth, chamfering, and permanent magnet skewing. In addition, we suggested the experimental set for measurement of pitching moment. Finally, the results from measurement shows the good agreement with those obtained from finite element analysis results.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.78-84
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• 2009

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.

• Journal of Sensor Science and Technology
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• v.20 no.5
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.1
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• pp.157-162
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• 2000

The ball bearings are the widely-used machine elements in many machineries. They support not only the radial and the axial force but also the moment in many cases. To simply determine the limit load which can be maintained on an ball bearing or survived in wanted life, the combined the radial and axial force with the moment is converted to the equivalent radial or axial load. However, it is not easy to calculate the equivalent load on the ball bearings. So the simplified equations to evaluate the dynamic and static equivalent load considering the axial force and moment are proposed in this analysis. And the modified equation for the static equivalent radial load with the moment and the axial load is proposed. It is desired that these equations are effectively refered in designing the machineries where the ball bearings are installed.