In this paper, we designed and manufactured a new manipulator (less than 15 kg) to make the total weight of SCOBOT-200 (EOD robot: its platform weight is 35 kg) commercialized by FIRSTEC Co., Ltd. Link1 and Link2 of the manipulator were designed and fabricated using CFRP (Carbon Fiber Reinforced Plastics) material, and the other components were made of AL6061 material. The fabricated manipulator has 5-DOF, and the opening width of the gripper is more than 1520 mm. As a result of the characteristic test, the weight of manipulator is 14.5 kg, the length of the manipulator is 1500 mm, the payload when the manipulator extended is 8 kg, when folded is 20 kg. Thus, the manipulator manufactured can be used as a manipulator for a small EOD (Explosive Ordnance Disposal) robot.
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Research on the application of intelligent robots in explosive crime scenes Junwei Guo International Journal of System Assurance Engineering and Management.2023; 14(2): 626. CrossRef
Study on Output Characteristics of Printed Flexible Tactile Sensors Connected to Brass Terminals Jindong Kim, Yonghwan Bae, Inhwan Lee, Hochan Kim Journal of the Korean Society of Manufacturing Process Engineers.2020; 19(4): 65. CrossRef
In this paper, the design and fabrication of the calf-link with knee joint torque sensor of a tandem-driven walking-assist robot is described. Tendon-driven walking-assist robots should be designed and constructed with a wire wheel and a torque sensor, as one body to reduce the weight of the calf link. The torque sensor consists of four plate sensing parts crossed 90° around the wire wheel. Structural analysis was performed to determine the size of the torque sensor sensing part, and a torque sensor was built by attaching a strain gauge to the sensing part. As a result of the characteristics test, the reproducibility error and the nonlinearity error of the manufactured torque sensor were less than 0.03% and 0.04%, respectively. As a result of the calibration, the reproducibility error and the nonlinearity error were less than 0.08%, respectively. Thus, it is considered that the knee joint torque sensor of the calf link can be attached to the tandem-driven walking-assist robot.
In this paper, we design and fabricate a wearable walking-assist robot using a tendon-driven method. Most wearable walking-assist robots are designed using the method of the attaching of the motors to the hip, knee, and ankle joints. The robot needs the capacities of the motors attached to the hip and knee joints to equal the weights of the motors attached to the knee and ankle joints and the motor attached to the ankle, respectively. To solve these problems, we design and fabricate the wearable walking-assist robot using a tendon-driven method that rotates the joints by attaching the motors of the hip, knee, and ankle joints to the waist joint, and pulling it with a line. The gait patterns of a normal person are photographed and analyzed, thereby providing the ankle position (x, y) during the walking that is then calculated using the forward kinematic equation, while each joint angle is calculated using the inverse kinematic equation. As a result of the characteristic experiment of the wearable walking-assist robot, the resultant walking aspect is similar to that of the normal person.
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Design and Evaluation of Soft Actuators Including Stretchable Conductive Fibers Hye Won Lee, Yeji Han, Minchae Kang, Ju-Hee Lee, Min-Woo Han Journal of the Korean Society for Precision Engineering.2022; 39(4): 307. CrossRef
Design of Integrated Ankle Torque Sensor and Mechanism for Wearable Walking Aid Robot Han-Sol Kim, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2020; 37(9): 667. CrossRef
Design and Manufacture of Calf-Link with Knee Joint Torque Sensor for a Tendon-Driven Walking Assistant Robot Jun-Hwan An, Gab Soon Kim Journal of the Korean Society for Precision Engineering.2019; 36(11): 1009. CrossRef
In this paper, we designed and fabricated a hip joint torque sensor that can measure the torque applied to the hip joint of a walking assistant robot that can be used by a leg patient. To do this, we modeled the structure of the hip joint torque sensor so that it can be connected to the thigh link and the body of the walking assist robot. We calculated the rated torque of the hip joint torque sensor using computer simulation and determined the size of the torque sensor using a finite element program. The hip joint torque sensor was made by constructing a Wheatstone bridge and attaching a strain gauge. The characteristic test of the fabricated torque sensor was performed using a calibration device, and the reproducibility error and the nonlinearity error of the torque sensor were both less than 0.04%. Therefore, it is proposed that the developed hip joint torque sensor can be attached to the thigh link of the wearable walking assist robot, and the torque sensor can accurately measure the torque applied to the hip joint.
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Development of Lower Limb Rehabilitation Robot Capable of Adjusting the Size of Leg and Waist, and Analysis of Gait Trajectory Deviation Young-Ho Jeon, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2021; 38(11): 817. CrossRef
We describe the design and fabrication of a three-axis force sensor with parallel plate beams (PPBs) for measuring the force of a patient’s thigh in a wearable walking robot. The thigh link three-axis force sensor is composed of Fx force sensor, Fy force sensor, Fz force sensor and a pulley, which detect the x, y and z direction forces, respectively. The threeaxis force sensor was designed using the Finite Element Method (FEM), and manufactured using strain-gages. Experiments to evaluate the characteristics of the three-axis force sensor were carried out. The results of the characteristics experiment indicate that the repeatability error and the non-linearity of the three-axis force sensor was less than 0.04%, and the results for calibration showed that the errors of the sensor was less than 0.1%. Therefore, the fabricated thigh link three-axis force sensor can be used to measure the patient’s thigh force of the wearable walking robot.
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Development of 5-axis Force/Moment Sensor of Gripper to Recognize the Position of an Object within the Gripper Jin Kim, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2023; 40(5): 415. CrossRef
Development of a 3-Axis Force Sensor for an Intelligent Gripper that Safely Grips Unknown Objects Han-Sol Kim, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2022; 39(3): 193. CrossRef
Development of Gripping Force Sensor for a Spindle Tool of BT50 Dae-Geon Lee, Gab-Soon Kim JOURNAL OF SENSOR SCIENCE AND TECHNOLOGY.2021; 30(1): 42. CrossRef
Design of Integrated Ankle Torque Sensor and Mechanism for Wearable Walking Aid Robot Han-Sol Kim, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2020; 37(9): 667. CrossRef
Design and Manufacture of Calf-Link with Knee Joint Torque Sensor for a Tendon-Driven Walking Assistant Robot Jun-Hwan An, Gab Soon Kim Journal of the Korean Society for Precision Engineering.2019; 36(11): 1009. CrossRef
Development of Hip Joint Torque Sensor for Measuring Hip Rotation Force of Walking Assist Robot of Leg Patient Jae-Hoon Park, Gab Soon Kim Journal of the Korean Society for Precision Engineering.2018; 35(8): 753. CrossRef
This paper describes the design of the beam of a gantry robot for Computer numerical control (CNC) lathe that can automatically attach and detach a workpiece. The gantry robot takes the unprocessed workpiece from the stoker and mounts it on the chuck of a CNC lathe. The robot then removes the processed workpiece fixed to the chuck and places it in the processed workpiece stoker. The workpiece consists of a body, x-axis beam, x-axis driving device, y-axis beam, yaxis driving device, z-axis beam and z-axis driving device. Finite element analysis was performed to design the x-axis beam, the y-axis beam, and the z-axis beam. Based on the results, the optimal size of the x-axis beam was designed to have a size of 150 mm × 150 mm × 4681 mm with a thickness of 9 mm. The x-axis beam is less eccentric in the position of the chuck of the CNC lathe.
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%.
This paper describes the design of the force measuring system for an industrial robot’s deburring work. The force measuring system is composed of a three-axis force sensor, a measuring device, a housing and a cover. The three-axis force sensor can detect x-direction force, y-direction force and z-direction force at the same time. The measuring device is designed using DSP(Digital Signal Processor), and have a RS-232 and a RS-485 communication port for sending force data to PC or other controller. As a result of test, the repeatability error and the non-lineality error of the three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.95%. It is thought that the force measuring system can be used for an industrial robot’s deburring work.
This paper describes the development of a wireless communication controller of gripper contact signal for industrial robot. The wireless communication gripper controller is composed of a robot wireless communication controller and a gripper wireless transmitting/receiving controller. The robot wireless communication controller transmits the data of gripper sensors, and the gripper wireless communication controller receives the data. And the controller sends the data to the robot controller of industrial robot. As a result of the characteristics test of the wireless communication gripper controller, it is thought that the robot wireless communication controller A transmits and receives three gripper wireless transmitting/receiving controller A1, A2, A3 another. Thus, the developed wireless communication gripper controller can be used for transmitting/receiving the data of gripper sensors for industrial robot.
This paper describes the forming conditions of smart-phone curved glass using the glass molding system with force applying system. The force applying system is composed of a body, a motor and gear, a rectilinear movement structure, a force sensor, a LVDT sensor (Linear Variable Differential Transformer), a up and down moving block, and so on. The glass molding system for characteristic test to find the forming conditions consists of the force applying system and a chamber, a metallic mold, a upper heater, a lower heater and so on. The characteristic test for forming conditions of smart-phone curved glass was carried out at forming temperature 620℃ and 650℃ using the glass molding system. As a result of the characteristic test, the forming conditions of curved glass could be found, and it is thought that the conditions can be used to apply to the system for producing in large quantities.
Rehabilitation of finger patients requires that the patients exercise their hands and fingers for proper functioning to return. A thumb rehabilitation robot, equipped with a two-axis force sensor, can prevent injury to the thumb by monitoring the applied pulling force. In this paper, we describe a link-type thumb rehabilitation robot designed for patients" thumb rehabilitation exercise. Tests of the manufactured link-type thumb rehabilitation robot were performed on normal male patients. Our results show that the robot can be used for flexibility and muscle-strength rehabilitation exercises for a patient’s thumb.
Most serious stroke patients have the paralysis on their wrists, and can’t use their hands freely. But their wrists can be recovered by rehabilitation exercises. Recently, professional rehabilitation therapeutists help stroke patients exercise their wrists in hospital. But it is difficult for them to rehabilitate their wrists, because the therapeutists are much less than stroke patients in number. Therefore, the wrist twist-exercise rehabilitation robot that can measure the twist force of the patients’ wrists is needed and developed. In this paper, the six-axis force/moment sensor was designed appropriately for the robot. As a test result, the interference error of the six-axis force/moment sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist twist force of the patient.
This paper describes the development of a cylindrical-object grasping force measuring system applied haptic technology to measure the grasping force of strokes patients’ fingers and other patients’ paralyzed fingers. Because the cylindrical-object and the force measuring device of the developed cylindrical-object grasping force measuring system are connected with the electrical wires, patients and their families have difficulty not only measuring the patients’ grasping force using the system but also knowing their rehabilitation extent when using it. In this paper, the cylindrical-object grasping force measuring system applied haptic technology was developed, and the cylindrical-object grasping force measuring device sends data to the rehabilitation evaluating system applied haptic technology by wireless communication. The grasping force measurement characteristic test using the system was carried out, and it was confirmed that the rehabilitation extent of the patients’ paralyzed fingers and normal people fingers can be evaluated.
Stroke patients should exercise for the rehabilitation of their fingers, because they can’t use their hand and fingers. The moving direction of thumb of five fingers is different that of four fingers (force finger, middle finger, ring finger, little finger). The thumb rehabilitation robot for rehabilitation exercise must be included a force control system, because robot can injure thumb by applying too much force. In this paper, the rectangular-type thumb rehabilitation robot was developed for stroke patient’s thumb rehabilitation exercise of the flexibility rehabilitation exercise. The characteristic test of the developed rectangular-type thumb rehabilitation robot was carried out with normal men in their twenties. As a result, it is thought that the robot can be used for the flexibility rehabilitation exercise of stroke patient’s thumb.
The fabrication method of aspheric lens is changed from machining to press molding so as to improve the productivity. In the case of the press molding method, the temperature control of the molding die is most important, because the temperature of each molding die determines the quality of lens. But any practical method for direct measuring of the lens temperature and the die internal temperature is yet unknown. Besides, in the case of the press molding system in which the heating and pressing and cooing of a die is done at separate work stations, the lens productivity of the system for small lens is yet too low. The paper shows an improved structure of convective sequential system, the lens productivity of which is three times as many as the conventional convective system. To know the die internal temperature, numerical results are given using ANSYS. A new convective sequential system is developed and tested. Finally, the Taguchi method is applied in order to optimize the setting conditions of individual work station of the system.
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