한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제32권7호
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  • Pages.653-660
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  • 2015
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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산업용로봇을 이용한 디버링을 위한 힘측정시스템 설계

Design of Force Measuring System for Deburring Using Industrial Robot

  • 이경준 (경상대학교 제어계측공학과) ;
  • 김한솔 (경상대학교 제어계측공학과) ;
  • 김정진 ((주)로봇플러스 연구소) ;
  • 김현민 ((주)로봇플러스 연구소) ;
  • 김갑순 (경상대학교 제어계측공학과)
  • Lee, Gyeong Jun (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University) ;
  • Kim, Han Sol (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University) ;
  • Kim, Chong Jin (Research and Development Department, INTELLIGENT ROBOT SOLUTION) ;
  • Kim, Hyeon Min (Research and Development Department, INTELLIGENT ROBOT SOLUTION) ;
  • Kim, Gab Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 투고 : 2015.04.06
  • 심사 : 2015.05.28
  • 발행 : 2015.07.01
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초록

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.

키워드

참고문헌

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