In this paper, we describe the development of a 5-axis force/moment sensor of an intelligent gripper designed to grasp the weight of an unknown object and the position of the object in the gripper. The 5-axis force/moment sensor consists of an Fx force sensor, Fy force sensor, and Fz force sensor to measure weight, along with an Mx moment sensor and Mz moment sensor to determine the position of an object in the gripper. These sensors are all built within a single body. Each sensor sensing part of the 5-axis force/moment sensor was newly modeled and custom designed using software, and each sensor was manufactured by attaching a strain gauge. The results of the characteristic test of the fabricated 5-axis force/moment sensor showed that the rated output error was within 0.1%, the reproducibility error was within 0.05%, and the nonlinearity error was within 0.04%. Therefore, the 5-axis force/moment sensor developed in this paper can be attached to an intelligent gripper and be used to grasp the weight of an unknown object as well as the position of the object in the gripper.
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Design of a Three-Finger Gripper Capable of Gripping Irregular Objects Je-hyeon Kim, Gab-Soon Kim Journal of the Korean Society of Manufacturing Process Engineers.2023; 22(8): 41. CrossRef
In this study, we designed and manufactured a 3-axis force sensor for an intelligent gripper that safely grips an unknown object. The 3-axis force sensor consists of an Fx force sensor, an Fy force sensor, and an Fz force sensor in one body, and is manufactured by attaching a strain gauge. The characteristics evaluation showed that the rated output error was within 0.2, the nonlinearity error was within 0.05, and the reproducibility error was within 0.06%. Therefore, the 3-axis force sensor designed and manufactured in this study can be used to measure weight and control the force used to grip an unknown object by attaching it to the intelligent gripper.
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Control Method of Electric Gripper Using Current Control System Ji-Hye Min, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2023; 40(9): 725. CrossRef
Development of an Intelligent Gripper that Determines the Gripping Force According to the Weight of the Object Han-Sol Kim, Gab-Soon Kim International Journal of Precision Engineering and Manufacturing.2023; 24(12): 2259. 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 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
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