• 한국세라믹학회지
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• 제41권3호
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• pp.216-220
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• 2004

본 논문은 압전세라믹의 압전상수 d$_{33}$ 를 이용한 적층 세라믹 박판 작동층 IDEAL (InterDigitated Electrode Actuation Layer)의 개발에 관한 것이다. 대부분의 박판 압전 작동층은 압전상수 d$_{31}$ 효과를 이용하고 있다. 현재 개발된 압전작동기의 성능을 향상시키기 위해 많은 연구가 수행 중에 있으며, 그 중 한 방법이 압전상수 d$_{33}$ 를 이용하는 방법이다. 압전세라믹의 압전상수 d$_{33}$ 는 압전상수 d$_{31}$ 보다 일반적으로 두배 정도이기 때문에 d$_{33}$ 작동 효과를 활용하면 작동기의 성능을 향상시킬 수 있다. 미국 MIT에서 개발된 AFC와 NASA Langley 연구소 연구팀이 개발한 LaRC-MFC$^{TM}$는 d$_{33}$ 작동 효과를 활용하였으나 빗살형 전극이 작동층 상하 표면에 부착되어 있어 완전한 d$_{33}$ 작동 효과를 활용하였다고 볼 수 없다. 본 논문에서는 빗살형 전극을 세라믹 층간에 삽입한 적층형 세라믹 박판 작동층을 설계하고 제작하였다. 제작된 작동층의 작동 스트레인을 측정하였고 LaRC-MFC$^{TM}$의 작동 스트레인과 비교한 결과, 본 연구에서 개발한 박판 세라믹 작동층이 15% 이상의 작동 스트레인을 발생시킬 수 있음을 확인하였다.

• 로봇학회논문지
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• 제12권2호
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• 대한기계학회논문집
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• 제18권4호
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• pp.846-855
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• 1994

An effective stiffness, analogous to that of a wound spring, can be created by antagonistic redundant actuation of general closed-chain mechanisms. The qualitative and quantitative characteristics of the effective stiffness are investigated through a Four-bar mechanism, and a load distribution method is introduced which simultaneously guarantees the required system motion and the effective stiffness of the Four-bar mechanism. Furthermore, a simulation is performed to understand the inter-relationship among the effective stiffness, the Four-bar geometry, and the actuation effort. Based on this analysis, the Four-bar synthesis problem for effective stiffness generation is discussed.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.960-966
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• 2016

This paper proposes a new concept of a soft and wearable upper-limb exoskeleton. A novel actuation principle, called the twisted string actuation principle, is implemented to make it lightweight, soft, and therefore easily wearable. Its power transmission mechanism and harness are designed to be soft and wearable, yet have enough control accuracy for rehabilitation. In addition to force transmission optimization, a speed enlargement mechanism is newly introduced in order to increase the contraction speed of the twisted string actuation mechanism by sacrificing the unnecessarily large gear reduction ratio of the twisted string mechanism. A prototype has been tested for mirroring therapy, and the feasibility of the proposed mechanism has been shown through a sufficiently accurate tracking performance.

• Smart Structures and Systems
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• 제12권5호
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• pp.483-499
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• 2013

A new piezoceramic $d_{15}$ shear-induced torsion actuation mechanism representative benchmark is proposed and its experimentations and corresponding 3D finite element (FE) simulations are conducted. For this purpose, a long and thin smart sandwich cantilever beam is dimensioned and built so that it can be used later for either validating analytical Saint Venant-type solutions or for analyzing arm or blade-based smart structures and systems applications. The sandwich beam core is formed by two adjacent rows of 8 oppositely axially polarized d15 shear piezoceramic patches, and its faces are dimensionally identical and made of the same glass fiber reinforced polymer composite material. Quasi-static and static experimentations were made using a point laser sensor and a scanning laser vibrometer, while the 3D FE simulations were conducted using the commercial software $ABAQUS^{(R)}$. The measured transverse deflection by both sensors showed strong nonlinear and hysteretic (static only) variation with the actuation voltage, which cannot be caught by the linear 3D FE simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.769-770
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• 2012

• 한국자동차공학회논문집
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• 제17권5호
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• pp.7-15
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• 2009

This paper introduces a new variable valve actuation mechanism with movable second cam center. Valve lift and open duration can be continuously varied according to engine speed and load conditions. A new method to analyze the kinematic relations between the first and second cam profiles and valve motion are also introduced. Because of rocker motion of the second cam, conventional motion conversion program could not be used in this problem. An example shows continuous variations of valve motion and adequate ramp incorporation throughout all valve lift modes. Valve acceleration profile at the high lift mode is similar to that of conventional valvetrains. Contact geometry analysis of the mechanism gives basic information on the load conditions between the components.

• 대한기계학회논문집
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• 제19권2호
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• pp.418-426
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• 1995

A bubble-powered microactuator is designed conceptually. And the actuation mechanism due to bubble growth and collapse is studied numerically and analytically. In this analysis, it is estimated that the time lag for bubble formation on micro line heater, the duration of the bubble growth and collapse and the pressure change in actuator due to the bubble evolution. Based on these calculations, the actuator control scheme is visualized. This actuator may be applicable to the system which needs to pump liquid correctly and regularly.

• Smart Structures and Systems
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• 제13권1호
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• pp.55-80
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• 2014

The present work pays emphasis on investigating the effect of different types of debonding on the bending behaviour of active sandwich beam, consisting of both extension and shear actuators. An active sandwich beam finite element is formulated by using Timoshenko's beam theory, characterized by first order shear deformation for the core and Euler-Bernoulli's beam theory for the top and bottom faces. The problem of debondings of extension actuator and face are dealt with by employing four-region model for inner debonding and three-region model for the edge debonding respectively. Displacement based continuity conditions are enforced at the interfaces of different regions using penalty method. Firstly, piezoelectric actuation of healthy sandwich beam is assessed through deflection analysis. Then the effect of actuators' debondings with different boundary conditions on bending behavior is computationally evaluated and experimentally clamped-free case is validated. The results generated will be useful to address the damage tolerant design procedures for smart sandwich beam structures with structural control and health monitoring applications.