公开(公告)号：KR1020120131800A

公开(公告)日：2012-12-05

申请号：KR1020110050215

申请日：2011-05-26

Applicant: 한국과학기술원 ,  (주)미래컴퍼니

Inventor： 이두용 ,  강부원 ,  조장호 ,  왕혁 ,  유재형

IPC: B25J15/00 ,  B25J15/08 ,  B25J19/00

Abstract: PURPOSE: A moving structure of a 1-DOF(Degree Of Freedom) gripper system, the detachable 1-DOF gripper system, and a driving method thereof are provided to apply a driving system using a wire to the 1-DOF gripper system, thereby obtaining high resolving power. CONSTITUTION: A moving structure of a 1-DOF gripper system comprises an actuator(5), a rotating member(11), and a gripper(12). The actuator comprises a rotary shaft(7). The rotating member receives power from the actuator by using a wire and rotates. The gripper is attached or detached to/from the rotating member. A guide groove is formed on a lateral side of the rotating member in a circumferential direction and the wire is placed in the guide groove. The wire is wound around the rotary shaft. Both ends of the wire are respectively fixed to both sides of the rotating member. A rotational direction of the rotating member is varied according to the rotational direction of the rotary shaft.

Abstract translation: 目的：提供1自由度（自由度）夹持系统的移动结构，可拆卸的1-DOF夹持系统及其驱动方法，以将使用导线的驱动系统应用于1-DOF夹持器系统，从而 获得高分辨力。 构成：1-DOF夹持器系统的移动结构包括致动器（5），旋转构件（11）和夹持器（12）。 致动器包括旋转轴（7）。 旋转构件通过使用导线从致动器接收动力并旋转。 夹持器与旋转构件相连或分离。 在圆周方向上在旋转构件的横向侧上形成引导槽，并且将导线放置在引导槽中。 线缠绕在旋转轴上。 线的两端分别固定在旋转构件的两侧。 旋转构件的旋转方向根据旋转轴的旋转方向而变化。

公开(公告)号：KR101288771B1

公开(公告)日：2013-07-22

申请号：KR1020110050215

申请日：2011-05-26

Applicant: 한국과학기술원 ,  (주)미래컴퍼니

Inventor： 이두용 ,  강부원 ,  조장호 ,  왕혁 ,  유재형

IPC: B25J15/00 ,  B25J15/08 ,  B25J19/00

Abstract: 본 발명은 1자유도 그리퍼 시스템의 동작 구조, 탈부착이 가능한 1자유도 그리퍼 시스템 및 그 구동 방법에 관한 것으로서, 보다 구체적으로는 로봇용 팔에 탈부착이 가능하도록 제공되는 1자유도 그리퍼 시스템을 제공하며, 특히 백래시의 영향을 없애고 미끄러짐의 최소화와 높은 분해능을 제공하기 위해 와이어를 이용한 구동원리가 적용된 1자유도 그리퍼 시스템에 관한 것이다.

公开(公告)号：KR101138532B1

公开(公告)日：2012-04-25

申请号：KR1020110019074

申请日：2011-03-03

Applicant: 한국과학기술원 ,  주식회사 이턴

Inventor： 이두용 ,  이동건 ,  왕혁 ,  조장호

IPC: G01L5/00 ,  G01L3/00 ,  B25J17/00 ,  B25J19/00

CPC classification number: G01L5/226 ,  B25J17/00 ,  B25J19/02 ,  G01L3/16

Abstract: PURPOSE: A torque measurement apparatus for a robot joint and a method thereof are provided to solve a problem which causes measurement error since strain is changed despite the application of different-directional torque in a joint part connected to two or more links. CONSTITUTION: A torque measurement apparatus for a robot joint comprises a first link, a rotating shaft(30), each inner races(11,12) of first and second bearings, a second link, a shaft torque sensor, a driver, and outer races of first and third bearings. The rotary shaft is vertically coupled with the first line. Each inner ring of the first and second bearings is separated at regular intervals in the longitudinal direction of the rotary shaft. The second link is coupled with the rotary shaft. The rotary shaft is inserted into the shaft torque sensor, and the shaft torque sensor is fixed in the second link to generate relative rotation with the rotary shaft. The driver is fixed to the shaft torque sensor and transmits the driving force to the shaft torque sensor.

Abstract translation: 目的：提供一种用于机器人关节的扭矩测量装置及其方法，以解决由于连接到两个或多个连杆的连接部中施加不同方向的扭矩而导致应变变化的测量误差的问题。 构成：用于机器人接头的扭矩测量装置包括第一连杆，旋转轴（30），第一和第二轴承的每个内圈（11,12），第二连杆，轴扭矩传感器，驱动器和外部 第一和第三轴承的种族。 旋转轴与第一根线垂直结合。 第一和第二轴承的每个内圈在旋转轴的纵向上以规则的间隔分开。 第二连杆与旋转轴连接。 旋转轴插入到轴转矩传感器中，并且轴扭矩传感器固定在第二连杆中，以产生与旋转轴的相对旋转。 驱动器固定在轴转矩传感器上，并将驱动力传递给轴转矩传感器。

公开(公告)号：KR101096571B1

公开(公告)日：2011-12-21

申请号：KR1020110019075

申请日：2011-03-03

Applicant: 한국과학기술원 ,  주식회사 이턴

Inventor： 이두용 ,  왕혁 ,  조장호 ,  최승욱 ,  이민규 ,  장배상

IPC: G01L5/00 ,  A61B17/062 ,  B25J3/00

CPC classification number: G01L5/226 ,  A61B17/062 ,  B25J17/00 ,  B25J19/02

Abstract: PURPOSE: An apparatus and a method for measuring the power or torque of a haptic master device for a robot are provided to simplify a control structure by installing a multi-axis power/torque sensor in a master device. CONSTITUTION: An apparatus and a method for measuring the power or torque of a haptic master device for a robot comprises a link unit, multiple drive units, a haptic master interface device, and a motion control unit. The link unit is composed of multiple joints formed by coupling multiple links. The drive units generate torque in each joint. The haptic master interface device is formed in one end of the link unit and has a grip unit(11). The motion control unit controls the operation of the drive units. A multi-axis power/torque sensor(1) is formed in the joint connected to the link unit and measures power or torque transferred to the grip unit.

Abstract translation: 目的：提供一种用于测量机器人的触觉主装置的功率或扭矩的装置和方法，以通过在主装置中安装多轴功率/扭矩传感器来简化控制结构。 构成：用于测量机器人的触觉主装置的功率或扭矩的装置和方法，包括链接单元，多个驱动单元，触觉主界面装置和运动控制单元。 链接单元由多个连接形成的多个关节构成。 驱动单元在每个接头处产生扭矩。 触觉主界面装置形成在连杆单元的一端，并具有把手单元（11）。 运动控制单元控制驱动单元的操作。 在连接到连杆单元的接头中形成多轴功率/扭矩传感器（1），并测量传递到把手单元的功率或扭矩。

公开(公告)号：KR100802136B1

公开(公告)日：2008-02-12

申请号：KR1020070019522

申请日：2007-02-27

Applicant: 한국과학기술원

Inventor： 이두용 ,  김우석 ,  우현수 ,  안우진 ,  이경노 ,  조장호 ,  이선영

IPC: G09B9/00 ,  G09B23/28 ,  A61B1/04

CPC classification number: G09B9/00 ,  A61B1/04 ,  G09B23/285

Abstract: A haptic device for a gastrointestinal endoscope simulator is provided to offer the sense of touch and haptic interface to a user and to transmit a value output by measuring the operation of a user for a device unit, to a haptic control unit. A haptic device for a gastrointestinal endoscope simulator comprises a support, a rectilinearly moving unit(210), and a roll turning unit(220). The rectilinearly moving unit is installed at the support to move rectilinearly. The rectilinearly moving unit provides information about a rectilinear motion of an endoscope tube generated by the operation of a user, to a control unit of the gastrointestinal endoscope simulator and transmits rectilinear force to the user through a control handle. The roll turning unit is rotatably fixed at the rectilinearly moving unit to turn the endoscope tube. The roll turning unit provides information about a roll rotary motion of the endoscope tube generated by the operation of the user, to the control unit of the gastrointestinal endoscope simulator and transmits rotational torque to the user through the control handle. The rectilinearly moving unit comprises a pair of guide rods of which both ends are fixed to the support, respectively; a first plate installed at a pair of guide rods to move rectilinearly and fix one side of the endoscope tube; a second plate moving rectilinearly by interlocking with the first plate and supporting the endoscope tube to move the endoscope tube freely while passing the front end of the endoscope tube; and a wire driving type motor installed at one side of the second plate to fix both ends of a wire wound around a shaft, to the support.

Abstract translation: 提供了一种用于胃肠内窥镜模拟器的触觉装置，以向用户提供触感和触觉接口，并通过测量用于装置单元的用户的操作来向触觉控制单元传输值输出。 用于胃肠内窥镜模拟器的触觉装置包括支撑件，直线移动单元（210）和滚动转动单元（220）。 直线运动装置安装在支架上以直线移动。 直线运动单元提供关于通过使用者的操作产生的内窥镜管的直线运动的信息，提供给胃肠内窥镜模拟器的控制单元，并且通过控制手柄将直线力传递给用户。 滚动转动单元可旋转地固定在直线移动单元上以转动内窥镜管。 滚动车削单元提供关于通过使用者的操作生成的内窥镜管的滚动旋转运动的信息到胃肠内窥镜模拟器的控制单元，并且通过控制手柄将旋转扭矩传递给用户。 直线运动单元包括一对导杆，其两端分别固定在支架上; 安装在一对导杆上以直线移动并固定内窥镜管一侧的第一板; 通过与所述第一板互锁而直线运动的第二板，并且支撑所述内窥镜管以在使所述内窥镜管通过所述内窥镜管的前端的同时自由移动; 以及安装在所述第二板的一侧的线驱动型电动机，以将缠绕在轴上的线的两端固定到所述支撑件。