• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.668-673
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• 2005

This paper proposes a simple actuator with a spherical rotor for robot's eyeball, which has two degrees of freedom. It features that both permanent magnets and coils are equipped in a stator and the spherical rotor with steps on its surface is driven by reaction of Lorentz force acting on the fixed coils. Such a structure is helpful to design a simple actuator and particularly suitable for a spherical actuator. Based on the FEM analysis, design parameters such as the sizes of core and permanent magnet, the width of step, coil turns and maximum current, are determined so as to maximize the torque and rotating angle. For the experimental verification of the feasibility, a prototype is manufactured and its operating characteristicsareinvestigated.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.4
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• pp.68-72
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• 2004

In this paper, the energy conversion theory of the linear actuator deals with the temperature characteristic analysis with verifying temperature of linear Actuator system This model of linear actuator has winding part and mechanical spring, and a plunger. This paper proposed and experimented the linear Actuator(LA) by using finite difference equation(FDE). The experimental result represented the temperature T1 and T2 which remarks Tl is a center of magnetic road inside of actuator winding part, and T2 is a surface of actuator winding part. And the temperature characteristic of the actuator winding part are experimented by the digital temperature meter TECPEL 322.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.9
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• pp.1341-1349
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• 2001

In this paper, 3 D.O.F. actuator, which has three degrees of freedom in one joint, is proposed. The proposed 3 D.O.F. spherical actuator is composed of the rotor and atator. The upper plate of the stator supports the rotor and five electromagnets are located at the base of the stator. The rotor has two permanent magnets, and each rotational axis of the rotor gimbal system is supported by the bearing. To find out the governing equations for the torque generation, Coulombs law and Lorentz force with respect to magnetism is applied. As the experimental results, if the distance between electromagnet and permanent maget is far enough, the force between these magnets can be expressed from current of coils and z-axial distance. For the purpose of control 3 D.O.F. actuator, PID control law is applied. The experimental results are presented to show the validity of the proposed 3 D.O.F. actuator.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.411-411
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• 2000

본 논문에서는 새로운 형태의 정밀위치제어용 3자유도 매니플레이터를 제안하고, 기구학 해석을 수행하며, FEM과 수치해석적인 방법을 비교하여 메카니즘에 대한 모델링 방법이 크게 틀리지 않음을 확인 하고자 한다. 회전관절과 구형관절은 비구동관절로써 미소움직임이 가능하도록 하나의 모듈로 이루어진 flexure hinge들로 만들어진다. 따라서, 비구동관절에 대한 강성해석을 수행하며 구동관절의 토오크 벡터를 비구동관절의 강성과 변위로 표현하여 액추에이터의 구동용량을 결정한다.