27 0

착용로봇을 위한 광학식 토크 센서 개발

Title
착용로봇을 위한 광학식 토크 센서 개발
Other Titles
Development of Optical Torque Sensor for Wearable Robot
Author
사르마드샴즈
Advisor(s)
한창수
Issue Date
2011-08
Publisher
한양대학교
Degree
Master
Abstract
This paper describes the development of a compact design torque sensor using optical technique and its fabrication for wearable robot. The torque generated can only be measured by placing a torque sensor on each joint, which makes the joint bulky and heavy adding extra load to be carried by robot. In this paper, we propose a compact and light weight design for the torque sensor. This sensor can measure torque of robot's links by detecting torsion. The optical technique is used to detect angular displacement in the joints. As optical technique is immune to electromagnetic interference, light weight, and it also required simple electronics. The torque can be calculated by using torque and twist-angle relation. The proposed design is simulated by FEM software (ANSYS), and it shows successful measurements of the torque with a load capacity of 100 Nm, which is sufficient for the torque generated in wearable robot's joints. The designed optical torque sensor is manufactured by EDM (Electrical Discharge Machining). The optical torque sensor is calibrated and several experiments (linearity, repeatability, accuracy and time response) are conducted to ensure its feasibility with the wearable robot. In the end, the optical torque sensor is compared with the commercially available high cost torque sensor of the wearable robot.
URI
http://dcollection.hanyang.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000061013https://repository.hanyang.ac.kr/handle/20.500.11754/138815
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE