• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

• 한국정밀공학회지
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• 제24권10호
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• pp.91-98
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• 2007

This paper describes the development of the calibration system for a multi-axis force/moment sensor and its uncertainty evaluation. This calibration system can generate the continuous forces (${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$) and moments (${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$). Many kinds of multi-axis force/moment sensors in industries should be carried out the characteristic test or the calibration with the calibration system that can generate the forces and the moments. The calibration systems have been already developed are the disadvantages of the low capacity, the generation of step forces(10N, 20N ...) and step moments(1Nm, 2Nm ...) with weights, the high coasts in manufacture and so on. In this paper, the calibration system for a multi-axis force/moment sensor that can generate the continuous three forces and three moments was developed. Their ranges are $0{\sim}2000N$ in all force-directions and $0{\sim}400Nm$ in all moment-directions. And the system was evaluated in the expanded relative uncertainty. They were ${\pm}0.0004$ in all forces ${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$, and ${\pm}0.0004$ in all moments ${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$.

• 한국정밀공학회지
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• 제26권1호
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• pp.89-96
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• 2009

This paper describes the intelligent robot's hand with three finger sensors for a humanoid robot. In order to grasp an unknown object safely, the intelligent robot's hand should measure the mass of the object, and determine the grasping force using the mass, finally control the grasping force using the finger sensors and the controller. In this paper, the intelligent robot's hand for a humanoid robot was developed. First, the six-axis force/moment sensor was manufactured. second, three finger force sensors were designed and fabricated, third, the high-speed controller was manufactured using DSP(digital signal processor), finally, the characteristic test for determining a grasping force and for grasping an unknown object safely It is confirmed that the hand could grasp an unknown object safely.

• 한국정밀공학회지
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• 제26권11호
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• pp.62-69
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• 2009

This paper describes the development of the new type equilibrium sensation measuring system for human with handicap in the equilibrium sensation. The medium and small hospital could not use the developed equilibrium sensation measuring system, because it is very high prices. Therefore, the new type system should be developed to measure the numerical value of the equilibrium sensation in human with handicap. In this paper, First, two 3-axis force/moment sensors which can measure force Fz, moments Mx and My simultaneous were designed and manufactured, second, the high speed measuring device which can acquire the output from two 3-axis force/moment sensors, third, the new type equilibrium sensation measuring system was developed, then the characteristic test of the developed equilibrium sensation measuring system carried out, it is confirmed that the system could measure the swing body of human with handicap.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.221-222
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• 2007

• International Journal of Aeronautical and Space Sciences
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• 제8권1호
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• pp.105-114
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• 2007

This article presents the details of a designed control moment gyroscope (CMG) with a constant speed momentum wheel and one-axis-gimbal, and its experimental results performed at Korea Aerospace Research Institute. The CMG which is able to produce a torque of lOO mNm per each, is mounted in a pyramid configuration with four SGCMGs. Each CMG test and a single axis maneuver test with four-CMG cluster configuration are performed to confirm their performance on a ground-test facilities consisted of three major parts: a vibration isolation system, a dynamic force plate (Kistler sensor), and a DSP board. These facilities provide the accurate data of three axial and torques from the control moment gyro. Details of the CMG experimental results are presented with discussion of the experimental errors. The experimental data are compared with theoretical results and both results are used to verify their performance specifications.