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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 주진원
- 발행연도
- 2014
- 저작권
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This paper describes development process of the high-precision 6-component F/T sensor and 6-component F/T generator. 6-Component F/T sensor was designed using finite element analysis and made. Study was conducted to minimize coupling errors by analyzing characteristics of its experiment results. High-precision 6-component F/T sensor designed mitigated the sensitivity of strain gage''s position error.
6-component F/T generating was developed to evaluate F/T sensor''s characteristics accurately. Considering the possibility of interference error in F/T generator, it was designed to generate F/T stably. Also reliability of moment generating method was verified.
There are possibilities of coupling error in 6-component F/T generator, so master loadcell was adopted to evaluate generator. Because master loadcell should be simple to minimize the coupling error by itself, load component was minimized which can be sensed. Through FEM, newly shaped master loadcell was designed. 6-componet F/T generator was evaluated by master loadcell, interference error of generator was within 1%.
6-component F/T generating was developed to evaluate F/T sensor''s characteristics accurately. Considering the possibility of interference error in F/T generator, it was designed to generate F/T stably. Also reliability of moment generating method was verified.
There are possibilities of coupling error in 6-component F/T generator, so master loadcell was adopted to evaluate generator. Because master loadcell should be simple to minimize the coupling error by itself, load component was minimized which can be sensed. Through FEM, newly shaped master loadcell was designed. 6-componet F/T generator was evaluated by master loadcell, interference error of generator was within 1%.
목차
Ⅰ. 서 론 1Ⅱ. 로봇용 6축 F/T 센서의 설계 및 제작 32.1 유연한 고정단의 변형거동 32.2 십자형 보 구조 6축 F/T 센서 설계 52.3 십자형 보 구조 6축 F/T 센서 제작 7Ⅲ. 특성시험 및 구조개선 83.1 특성시험 방법 및 결과 83.2 고정밀 6축 F/T 센서 개선방안 103.3 고정밀 6축 F/T 센서 최종설계 12Ⅳ. 6축 힘/모멘트 발생장치 개발 134.1 6축 힘/모멘트 발생장치 및 시험방법 134.2 하중점 위치의 영향 및 시험결과 보상 144.3 6축 힘/모멘트 발생장치 설계 164.4 6축 힘/모멘트 발생장치 제작 19Ⅴ. 6축 힘 모멘트 발생장치의 평가 205.1 모멘트 발생방법의 검증 205.2 마스터 로드셀의 설계 및 제작 235.3 6축 힘/모멘트 발생장치 평가 26Ⅵ. 결 론 28참고문헌 30
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