지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering Vol.40 No.9
- 발행연도
- 2023.9
- 수록면
- 725 - 732 (8page)
- DOI
- 10.7736/JKSPE.023.038
이용수
초록· 키워드
오류제보하기
This paper describes the control method of an electric gripper using a current control system. A current control system was designed and fabricated, and it consisted of a current sensor, an amplifier, and a precision voltage regulator. As a result of calibration by applying the current control system to the electric gripper, the error was less than ±0.34%. The proportional gain for the PI control of the gripper was 0.41, and the integral gain was 0.01. As a result of the control characteristics test, the arrival time was 0.79 s and the steady-state error was ±5 mV (±0.025 N). As a result of the experiment of holding the object, the gripper was able to hold the object safely. Therefore, the electric gripper applied using the current control system performed excellently in current control based on the reference force (grabbing force); thus, it is judged that it can be used to safely grip various objects in various fields.
목차
1. 서론
2. 전동식 그리퍼 전류제어시스템 설계
3. 전동식 그리퍼 전류제어시스템 특성실험 및 고찰
4. 결론
REFERENCES
참고문헌 (15)
참고문헌 신청
Roberge, J.-P., Ruotolo, W., Duchaine, V., Cutkosky, M., (2018), Improving industrial grippers with adhesion-controlled friction, IEEE Robotics and Automation Letters, 3(2), 1041-1048.
Tai, K., El-Sayed, A.-R., Shahriari, M., Biglarbegian, M., Mahmud, S., (2016), State of the art robotic grippers and applications, Robotics, 5(2), 1-20.
Kyberd, P. J., Evans, M., Te Winkel, S., (1998), An intelligent anthropomorphic hand, with automatic grasp, Robotica, 16(5), 531-536.
Kyberd, P. J., Light, C., Chappell, P. H., Nightingale, J. M., Whatley, D., Evans, M., (2001), The design of anthropomorphic prosthetic hands: A study of the Southampton Hand, Robotica, 19(6), 593-600.
Chelpanov, I., Kolpashnikov, S., (1983), Problems with the mechanics of industrial robot grippers, Mechanism and Machine Theory, 18(4), 295-299.
Tai, K., El-Sayed, A.-R., Shahriari, M., Biglarbegian, M., Mahmud, S., (2016), State of the art robotic grippers and applications, Robotics, 5(2), 1-20.
Kyberd, P. J., Evans, M., Te Winkel, S., (1998), An intelligent anthropomorphic hand, with automatic grasp, Robotica, 16(5), 531-536.
Kyberd, P. J., Light, C., Chappell, P. H., Nightingale, J. M., Whatley, D., Evans, M., (2001), The design of anthropomorphic prosthetic hands: A study of the Southampton Hand, Robotica, 19(6), 593-600.
Chelpanov, I., Kolpashnikov, S., (1983), Problems with the mechanics of industrial robot grippers, Mechanism and Machine Theory, 18(4), 295-299.
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