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:
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.
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:
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:
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.