난류강도가 소형 풍력발전기 출력에 미치는 영향

김석우(Kim, Seokwoo) 한국태양에너지학회 2013 한국태양에너지학회 논문집 Vol.33 No.6

Energy generation from an instrumented Skystream 3.7 small wind turbine was used to investigate the effect of ambient turbulence levels on wind turbine power output performance. It is widely known that elevated ambient turbulence level results in decreased energy production, especially for large sized wind turbine. However, over the entire wind speed range from cut into the rated wind speed, the measured energy generation increased as ambient turbulence levels elevated. The impact degree of turbulence levels on power generation was reduced as measured wind speed approached to the rated wind speed of 13m/s.

성인 체중을 고려한 로봇의 지능형 발을 위한 6축 힘/모멘트센서 개발

김갑순(Gab-Soon Kim),윤정원(Jungwon Yoon) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.7

This paper describes the development of 6-axis force/moment sensor considered adult weight for an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 100N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

인간형 로봇의 지능형 발을 위한 6축 발목 힘/모멘트센서

김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.1

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 ㎜ and the height should be below 40㎜. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching strain￢gages on the sensing elements, finally, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.

지능형 로봇 발을 위한 6축 힘/모멘트센서 개발

김갑순(Gab-Soon Kim),신희준(Hyi-Jun Shin),허덕찬(Duk-Chan Hu),윤정원(Jungwon Yoon) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5

This paper describes the development of 6-axis force/moment sensor for an intelligent robot’s foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot’s foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6-axis force/moment sensor is very important for mounting to robot’s foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot’s foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (platebeams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

Design of a Force Sensor for Thigh Force Measurement of a Wearable Walking Robot

정재현(Jae-Hyeon Jung),김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2017 한국정밀공학회지 Vol.34 No.10

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.

휠 동력계의 유한요소 해석 및 하중시험

최윤희(Yunhui Choi),주진원(Jinwon Joo) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.5

Design and Manufacture of Calf-Link with Knee Joint Torque Sensor for a Tendon-Driven Walking Assistant Robot

안준환(Jun-Hwan An),김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2019 한국정밀공학회지 Vol.36 No.11

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.

그리퍼 내에서 물체의 위치를 인지하기 위한 그리퍼의 5축 힘/모멘트센서 개발

김진,김갑순 한국정밀공학회 2023 한국정밀공학회지 Vol.40 No.5

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.

외력에 반응하는 인간형 로봇의 머리를 위한 6 축 힘/모멘트 센서 개발

김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2009 한국정밀공학회지 Vol.26 No.12

When external force is applied to humanoid robot’s head, humanoid robot’s neck is rotated to prevent the damage of it. So, robot’s neck have to perceive forces (Fx of x-direction, Fy of ydirection and Fz of z-direction) and moments (Mx of x-direction, My of y-direction and Mz of zdirection) using the attached 6-axis force/moment sensor. Thus, in this paper, 6-axis force/moment sensor was developed to sense the forces and moments applied to robot’s head. The structure of 6-axis force/moment sensor was modeled newly, and it was designed using FEM software (ANSYS) and manufactured by attaching straingages on the sensing element, finally, the characteristic test of the sensor was carried out. As a result, it is confirmed that interference error is less than 3%. And, it is thought that the sensor can be used to measure the forces and the moments for humanoid robot’s head.

손목회전운동 재활로봇을 위한 6축 힘/모멘트센서 설계

김현민(Hyeon Min Kim),김갑순(Gab Soon Kim) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.5

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.