• 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 Precision Engineering Conference
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• 2012.10a
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• pp.647-648
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.649-650
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.17 no.10
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• pp.95-101
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• 2000

The purpose of this study is to develop an improved measuring system, which allows for effectively measure spring clamping forces. This system consists of eight or twelve measuring points in order to acquire the clamping force distribution of the whole range of spring clamp. Each measuring point consists of load cells equipped with 4 strain gauges. Using different bearings, we calibrate the roundness of the measuring points. For quality control and database construction, a software system is established. furthermore, uncertainty is calculated to validate the confidence of this system. Various experiments confirm the effectiveness of this measuring system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.773-774
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• 2009

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1543-1546
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• 2005

This paper presents a method to measure a large surface shape using atomic force microscopy, which has been used mostly for measuring over very tiny surfaces. Experiments are performed to measure a step height and a slope of a test sample. The proposed method is rigorously compared with the coordinate measuring machine. The repetition accuracy and the effects of the set point are also studied. The experimental results show that the proposed method is reliable and should be effective to measure both the nano-accuracy surface profile as well as the micro-accuracy global shape of a macro/micro parts using atomic force microscope.

• Proceedings of the KSR Conference
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• 2001.10a
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• pp.156-162
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• 2001

Current collection performance on-line tests for a Korean High Speed Train being developed in G7 project is scheduled to start in June, 2002. In this paper, preparatory efforts for measuring contact forces which is regarded as one of major measuring items in the test are introduced. Specifically speaking, review of frequencies related with contact force fluctuations, brief of contact force measuring algorithm, review of measuring instrument specifications and development of a data acquisition program are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.751-752
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1013-1014
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• 2010