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Development of 6 DOF Displacement Sensor Using RUS Parallel Mechanism
- Title
- Development of 6 DOF Displacement Sensor Using RUS Parallel Mechanism
- Authors
- Kim, Donghyun; Choi, Sunghyun; Yun, Dongwon
- DGIST Authors
- Kim, Donghyun; Choi, Sunghyun; Yun, Dongwon
- Issue Date
- 2021-06
- Citation
- Sensors, 21(11), 3832
- Type
- Article
- Author Keywords
- 6DOF distance sensor; Peg-in-hole; RCC (Remote Center Compliance); RUS system; Singularity; Stewart System
- Keywords
- Compliance control; End effectors; Mechanisms; Position control; Angular displacement sensors; Displacement sensor; Force based control; Industrial sites; Mechanical device; Parallel mechanisms; Production process; Remote center compliance
- ISSN
- 1424-8220
- Abstract
- Nowadays, many types of manipulators have been developed and used in lots of production processes. Force-based control methods or additional mechanical devices called Remote Center Compliance (RCC) have increased the system’s compliance and accuracy. However, the force-based control method’s operating speed is low, and the RCC cannot measure deflection. Thus it cannot calculate the position of the end-effector accurately. For accurate force and position control, it is necessary to measure the deflection of the RCC and to perform this, a different type of device than the existing RCC is required. This paper presents the necessity and possibility of developing an RCC capable of measuring the displacement of the end-effector and showing the displacement sensor’s feasibility using a 6 DOF parallel mechanism. In particular, we suggest that it is possible to make devices cheaper and more compact by using angular displacement sensors. Finally, we show the possibility of use in actual industrial sites through peg-in-hole simulation using the device. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
- URI
- http://hdl.handle.net/20.500.11750/13997
- DOI
- 10.3390/s21113832
- Publisher
- MDPI AG
- Related Researcher
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Yun, Dongwon
Bio Robotics and Mechatronics Laboratory
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Research Interests
Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
- Files:
-
- Collection:
- Department of Robotics and Mechatronics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles
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