• Smart Structures and Systems
• /
• 제17권5호
• /
• pp.819-835
• /
• 2016

In this paper, the activities carried out within the EU funded Clean Sky Joint Technology Initiative (JTI GRA) Project and aimed at developing a morphing flap, are illustrated. The reference device is a regional aircraft single slotted flap, enhanced with deforming capabilities to obtain improved hyper-lift performance. The design started with the identification of the internal architecture, intended to allow camber variations. A concentrated-hinge architecture was selected, for its ability to fit different curvatures and for the possibility of easily realizing an "armadillo-like" configuration, then avoiding the use of a complicate deformable skin. The flap layout is made of segmented ribs, elastically hinged each other and span-wise connected by conventional spars. Relative rotations of the rib elements are forced by SMA structural actuators, i.e., cooperating in the external loads absorption. Super-elastic SMA are used to make up recovery elastic elements, necessary to regain the original shape after activation. These further elements in turn contribute to the overall flap rigidity. After assessing the hinge number and the size of the SMA active and passive elements, the advanced design phase was dealt with. It was aimed at solving manufacturing issues and producing the executive drawings. The realized demonstrator was finally tested in lab conditions to prove its functionality in terms of whether target shape actuation or attained shape preservation under loads. On the basis of the numerical results and the experimental outcomes, precious hints were obtained for further developments of the concept.

• 한국항공우주학회지
• /
• 제32권4호
• /
• pp.18-23
• /
• 2004

본 논문에서는 고 전압, 고 응력 하에 있는 압전 재료의 재료 비선형 거동을 실험적으로 밝히고, 수치적으로 모사하였다. 응력 하에서, 압전 재료의 비선형 거동을 표현 할 수 있는 실험식을 압전 변형율에서 만들어 내었다. 그 식은 재료 비선형 해석을 위하여, 증분 형태의 유한요소 식에 적용되었다. 압전 상수에 대한 새로운 정의와 증분 형태로 표현된 압전 변형율이 보다 나은 비선형 거동의 복원을 위하여 유한 요소 정식화과정에 적용되었다. 이것으로, 높은 전기장 영역에서도, 박판형 압전 재료의 비선형 거동을 정확하게 복원하였다. 일련의 수행된 실험과 연구 과정의 검증을 위하여, 압전재료 바이모프 보 작동기가 수치적으로와 실험적으로 사용되었다. 재료 비선형 유한요소해석으로 예측된 변위와 실험으로 구해진 변위가 잘 일치함을 확인하였다.

• 한국추진공학회지
• /
• 제14권6호
• /
• pp.89-102
• /
• 2010

본 논문에서는 항공우주분야의 구동장치와 여러 산업분야에서 응용되고 있는 미래 지향적 구동기의 기술에 대한 사항과 발전방향에 대해 연구하였다. 특히, 항공기 비행조종면 구동장치의 경우 기존에는 기계식 링키지나 무게 대비 출력이 높은 유 공압 구동기가 많이 사용되었으나 최근에는 대부분의 항공기에서 사용 중인 Fly-By-Wire 시스템과 더 나아가 'More Electric', 'All Electric' 시스템으로의 변화가 이루어지고 있다. 전기식 유압구동기와 전기식 구동장치의 경우 효율이나 안전성 그리고 비용적인 측면에서 우수하기 때문에 근래에 지속적인 개발이 진행되고 있다. 또한, 최근에는 구동기의 무게와 정밀도 그리고 응답속도의 향상을 위해 신소재를 이용한 새로운 분야의 구동기들이 개발되고 있다. 따라서 본 연구를 통해서 차세대 항공우주분야 구동장치와 신개념 구동기들의 세부기술 및 발전방향을 제시하고자 한다.

• Ocean and Polar Research
• /
• 제37권1호
• /
• pp.73-80
• /
• 2015

In order to determine the appropriate volume of the a pressure compensator of deep seabed mining robots, this paper reports on an experimental test for oil volume change in an oil-filled box. At the design stage of underwater robots, it is crucial to determine the capacity of the hydraulic compensator which is replenished as much as the contracted oil volume of the robots. A pilot mining robot, MienRo was designed to work under 6,000 m in the deep sea. The hydraulic actuating oil and pressure compensating oil of MineRo may be exposed at a hydrostatic pressure environment of 600 bar. Although the oil can be assumed to be incompressible, its volume is actually changed under high pressure conditions due to air contained in the oil and oil contraction. To determine the capacity of the pressure compensator, the oil contraction rate should be verified through an experimental test using a hyperbaric chamber.

• 한국항공우주학회지
• /
• 제42권11호
• /
• pp.988-995
• /
• 2014

관측위성으로부터 획득된 영상데이터를 지상국에 효율적으로 전송하기 위해 2축 짐벌 형태의 지향성 X-band 안테나가 적용되고 있으며, 안테나의 고속 정밀지향성 확보를 위해 구비된 모터 및 기어 간의 부정확한 맞물림으로부터 발생되는 미소진동은 영상품질 저하의 원인으로 작용한다. 고해상도 관측위성의 지향성능 향상을 통한 고해상도 영상정보 획득을 위해서는 안테나 구동시 발생하는 미소진동이 주요 임무장비에 전달되지 않도록 미소진동 절연이 요구된다. 본 논문에서는 X-band 안테나의 미소진동절연을 목적으로 의탄성 SMA 메쉬와셔 진동 절연기를 제안하였으며, 정하중 시험을 통해 진동 절연기의 기본 특성을 확인하였다. 또한, X-band 안테나의 미소진동 시험을 통해 진동절연기 유무에 따른 진동절연성능을 비교 및 분석 하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.631-637
• /
• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1983-1989
• /
• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• 제어로봇시스템학회논문지
• /
• 제13권4호
• /
• pp.320-328
• /
• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• 제어로봇시스템학회논문지
• /
• 제17권8호
• /
• pp.814-823
• /
• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2004년도 하계학술대회 논문집 Vol.5 No.2
• /
• pp.615-618
• /
• 2004

The piezoelectricity and polarization of multilayer ceramic actuators, being designed to stack ceramic layer and electrode layer alternately, were investigated under a consideration of geometry, the thickness ratio of the ceramic layer to electrode layer The actuators were fabricated by tape-casting of $0.42PbTiO_3-0.38PbZrO_3-0.2Pb(Mn_{1/3}Nb_{2/3})O_3$ followed by laminating, burn-out and co-firing process. The actuators of $5\times5mm^2$ in area were formed in a way that $60{\sim}200{\mu}m$ thick ceramics were stacked 10 times alternately with $5{\mu}m$ thick electrode. Increase in polarization and electric field-displacement with increasing thickness ratio of the ceramic/electrode layer and thickness/cross section ratio were attributed to the change of $non-180^{\circ}/180^{\circ}$ domain ratio which was affected by the interlayer internal stress and Poisson ratio of ceramic layer. The piezoelectricity and actuation behaviors were found to be dependent upon the volume ratio (or thickness ratio) of ceramic layer relative to ceramic layer. Concerning with the existence of internal stress, the field-induced polarization and deformation were described in the multilayer actuator.