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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, DonghyunChoi, SunghyunYun, Dongwon
DGIST Authors
Kim, Donghyun; Choi, Sunghyun; Yun, Dongwon
Issue Date
2021-06
Citation
Sensors, 21(11), 3832
Type
Article
Author Keywords
6DOF distance sensorPeg-in-holeRCC (Remote Center Compliance)RUS systemSingularityStewart System
Keywords
Compliance controlEnd effectorsMechanismsPosition controlAngular displacement sensorsDisplacement sensorForce based controlIndustrial sitesMechanical deviceParallel mechanismsProduction processRemote 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
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • 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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