• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.222-232
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• 1999

This paper describes the development of a precision 3-component load cell with plate beams which may be used for measuring forces Fx, Fy and moment Mz simultaneously in industry. We have derived equations to predict the bending strains on the surface of the beams under forces or moment. We have also determined the attachment location of strain gages of each sensor and fabricated 3-component load cell. To evaluate the rated strain and interference error of each sensor, we have carried out characteristic test of precision 3-component load cell. It reveals that the rated strain calculated from the derived equations are good agreement with the results from Finite Element Method analysis.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.109-115
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• 1998

This paper describes the development of a 6-component load cell with plate beams which may be used to measure forces Fx, Fy, Fz and moments Mx, My, Mz simultaneously in industry. We have analyzed the bending strains on the surface of the beams under forces or moments by using Finite Element Method and designed the sensing elements of 6-component load cell. We have also determined the attachment location of strain gages of each load cell and fabricated 6-component load cell. To evaluate the rated strain and interference error of each load cell, we have carried out characteristic test of 6-component load cell.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.2
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• pp.214-221
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• 2001

This paper describes the design of 3-component force/moment sensor with the force and moment ratio of wide range. It can measure the x-direction force Fx, y-direction force Fy and z-direction moment Mz simultaneously. In order to accurately measure forces and moment using 3-component force/moment sensor, it should get suitable force and moment ratio(the ratio of force Fx=200 N and moment Mz=20 Nm is ten to one), and small interference error. In this paper, in order to design the 3-component force/moment sensor with the force and moment ratio of wide range, the procedures are performed as follow : 1) the derivation of the equations to predict the bending strains on the surfaces of the plate-beams under the force or the moments, 2) the determination of the size of the sensing elements of the force/moment sensor by using the derived equations, 3) the Finite Element Method(FEM) analysis and the characteristic test for confirming the strains from the theory analysis, 4) the selection of the attachment locations of the strain gages of each sensor, 5) the analysis of the rated strain and the interference error at the attachment location of strain gages. It reveals that the rated strains calculated from the derived equations make a good agreement with the results from the Finite Element Method analysis and the characteristic test.

• International Journal of Precision Engineering and Manufacturing
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• v.1 no.1
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• pp.22-32
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• 2000

This paper describes the development of a precision 3-component load cell with plate beams which may be used for measuring forces Fx, Fy and moment Mz simultaneously in industry. The equations to predict the bending strains on the surface of the beams under forces or moment are derived, the attachment location of strain gages of each sensor is determined, and 3-component load cell is carried out. It reveals that the rated strain calculated from the derived equations are good agreement with the results from Finite Element Method analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1147-1152
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• 2014

This paper describes the design of a four-axis force/torque sensor with PSPBs (Parallel Step Plate Beams). The sensor is composed of eight PSPBs, a force/torque transmitting block, and fixing blocks. It is designed by using the FEM(Finite Element Method), and fabricated by using strain gages. The characteristic tests of the sensor are carried out, and the interference error, repeatability error, and non-linearity error are less than 2.21%, 0.03% and 0.03%. Furthermore, the structure of the four-axis force/torque sensor with PSPBs has a larger rated capacity than that of the four-axis force/torque sensor with PPBs under the same overall sensor size and the same rated output. It is thought that the developed four-axis force/torque sensor with PSPBs can be used for measuring the forces and torques in an intelligent robot, automation devices, etc.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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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%.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.524-529
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• 2016

We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.4
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• pp.309-316
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• 2016

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

• Journal of Sensor Science and Technology
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• v.25 no.2
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• pp.110-115
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• 2016

This paper describes the design and fabrication of a three-axis force sensor with three parallel plate structures(PPSs) for measuring force in a finger force measuring system for a spherical object catch. The three-axis force sensor is composed of a Fx force sensor, Fy force sensor and a Fz force sensor, and the elements of Fx force sensor and Fy force sensor are a parallel plate structure(PPS) respectively and Fz force sensor is two PPS. The three-axis force sensor was designed using FEM(Finite Element Method), and manufactured using strain-gages. The characteristics test of the three-axis force sensor was carried out. As a test results, the interference error of the three-axis force sensor was less than 1.32%, the repeatability error of each sensor was less than 0.04%, and the non-linearity was less than 0.04%.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.226-232
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• 2016

This paper describes the design of a smart three-axis force sensor for measuring forces Fx, Fy and Fz. The smart three-axis force sensor is composed of a three-axis force sensor, a force-measuring device, housing and a cover, where the three-axis force sensor and the force-measuring device are inside the housing and the cover. The measuring device measures forces Fx, Fy and Fz from the three-axis force sensor, and calculates the resultant force using the measured forces, and then sends the resultant force and forces to a PC or other controller using RS-485 communication. The repeatability error and the non-linearity error of the smart three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.87%. It is thought that the sensor can be used for measuring forces in a robot, automatic systems and so on.