• 한국기계가공학회지
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• 제20권11호
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• pp.74-79
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• 2021

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.479-483
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• 2006

As high-definition television(HDTV) broadcasting were generalized, there have been many researches and developments about large storage capacity and fast data transfer rate in optical disk drives(ODD). Pickup actuators must have high flexible mode frequencies and gain margins. Flexible modes are caused by the flexibility of moving parts in the actuator and a servo bandwidth is limited by them. As a result, the system becomes unstable for high-speed operations in high density reading and recording. In this paper, we suggest improved modeling method that considers the bonding layer. And, flexible mode frequency of actuator is improved by Design of Experiment of lens holder. Magnet circuit is designed considering the relation with moving part. Through improving yoke design, the magnetic flux is changed and DC tilt is reduced. Consequently, we designed actuator which has high flexible mode frequency and gain margins.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.466-469
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• 1995

This paper presents a design and performance of the 6 D.O.F linear motion table with a magnetic bearing suspension. The linear positioning of the table with a 150mm stroke is driven by a brushless DC Linear motor and the other attitudes of the stage are controlled by the analog PD controller with magnetic bearing actuators. Each magnetic bearing unit which consists of 3 electromagnets, 3 capacitance probes and 3 backup bearings affords controlled forces by detecting the air gap between the probes and guideways. An integral type capacitance probe amplifier is equipped on the upper plate of the table so that the probe line to the probe amplifier can be shorter therefore the problems due to the stray capacitance and noise can be reduced. Form the pitch-yaw errormeasured by the autocollimator, the vertical and horizont straightness errors of the table are derived that they are maintained below 1.mu. m over 100mm stroke. The positioning accuracy of the linear motion is maintained below 2 .mu. m and the repeatability error is below 1 .mu. m

• 정보저장시스템학회논문집
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• 제1권2호
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• pp.121-126
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• 2005

Recently, an optical disc system has been proposed using blue laser diode, high NA objective lens and groove only disc structure. A new method is needed to readout CD and DVD in this Blu-Ray Disc Recorder. In order to readout CD and DVD in Blu-Ray Disc Recorder, we adopted dual-lenses actuator in consideration of optical utilization efficiency, optical performance and insurance of sufficient W.D(working distance). This dual-lenses actuator has two objectives in radial direction, one is for CD/DVD and the other is for BD. We had to solve the induced problems of collision between disc and lens, DC tilt increase, AC tilt increase, 2nd resonance deterioration and AC sensitivity drop caused by disposing two lenses in an actuator. Also we developed high response twin- objective actuator with radial tilt function to apply high-speed BD Recorder or BD Player. Consequently we presented that two kinds of dual-lenses actuators for BD Recorder have been possessed good performance in 3 axis directions. And we measured eye patterns of CD, DVD and BD by using one BD optical pick-up with dual-lenses actuator.

• International Journal of Aeronautical and Space Sciences
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• 제4권1호
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• pp.75-87
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• 2003

The primary objective of this study is to demonstrate ground-based experiment for the attitude control of spacecraft. A two-axis rotational simulator with a flexible ann is constructed with on-off air thrusters as actuators. The simulator is also equipped with payload pointing capability by simultaneous thruster and DC servo motor actuation. The azimuth angle is controlled by on-off thruster command while the payload elevation angle is controlled by a servo-motor. A thruster modulation technique PWM(Pulse Width Modulation) employing a time-optimal switching function plus integral error control is proposed. An optical camera is used for the purpose of pointing as well as on-board rate sensor calibration. Attitude control performance based upon the new closed-loop control law is demonstrated by ground experiment. The modified switching function turns out to be effective with improved pointing performance under external disturbance. The rate sensor calibration technique by Kalman Filter algorithm led to reduction of attitude error caused by the bias in the rate sensor output.

• 정보저장시스템학회논문집
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• 제2권4호
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• pp.240-244
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• 2006

As high-definition television(HDTV) broadcasting becoming more generalized, there have been many researches and developments about a large storage capacity and a fast data transfer rate in optical disk drives (ODD). Pickup actuators must have high flexible mode frequencies and large gain margins. Flexible modes are caused by the flexibility of moving parts in the actuator and a servo bandwidth is limited by them. As a result, the system becomes unstable for high-speed operations in high density reading and recording. In this paper, we suggest improved modeling method in considering of the bonding layer. And, the flexible mode frequency of actuator is improved by Design of Experiments of lens holder. The Magnet circuit is designed considering the relation with the moving part. Through improving the yoke design, the magnetic flux is changed and the DC tilt is reduced. Consequently, we designed an actuator which has a high flexible mode frequency and a large gain margins.

• 한국전기전자재료학회논문지
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• 제17권2호
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• pp.184-189
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• 2004

The effects of $Y_2$ $O_3$-substitution on the piezoelectric properties of Pb[(N $i_{1}$3/N $b_{2}$3/)$_{0.15}$(Z $r_{1}$2/ $Ti_{1}$2/)$_{0.85}$] $O_3$ceramics were investigated. It was found that $Y^{3+}$ ions incorporate into Pb-sites of the ceramics, resulting in a increased lattice anisotropy and formation of Pb-vacancies. As a result, an orthorhombic-tetragonal phase transition was induced when $\chi$>0.005. At the morphotropic phase boundary of x=0.005, piezoelectric constants( $k_{p}$, $k_{33}$, and $d_{33}$) showed maximum values of 0.53, 0.58, and 350pC/N, respectively. A 30-layer actuator fabricated with the above material showed a maximum strain of 0.12％ under 100V DC bias.

• 폴리머
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• 제33권4호
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• pp.377-383
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• 2009

전기활성 고분자 중의 하나인 이온성 폴리머-금속 복합체(ionic polymer-metal composites, IPMC) 작동기는 전압 인가 시 고분자전해질 내부에 존재하는 양이온과 물이 음극 방향으로 이동하면서 변위를 발생시킨다. 이러한 IPMC의 전해질은 높은 보습력, 프로톤 전도도 및 기계적 강도를 지녀야 하며, 이를 위해 본 연구에서는 IPMC의 고분자전해질인 나피온 층에 $\alpha$-, $\gamma$-알루미나를 $4{\sim}8$ wt%의 함량으로 도입하여 나피온-알루미나 복합막을 제조하고 그 특성을 확인하였다. 알루미나의 함량이 증가함에 따라, 나피온 복합막의 프로톤 전도도는 조금씩 감소하는 경향을 보였으며, $\alpha$-알루미나에 비해 $\gamma$-알루미나를 첨가하였을 때 전도도 감소가 더욱 컸다. 나피온-알루미나 복합막의 기계적 모듈러스는 37.16 MPa인 순수 나피온 막에 비해 모든 함량에서 $7{\sim}13\;MPa$ 높았다. 또한 준비된 나피온-알루미나 복합막을 이용하여 IPMC를 제작하였고 직류 3 V의 인가전압 하에서 작동성능을 평가하였다. 나피온-알루미나-IPMC, 특히 8 wt%의 $\alpha$-알루미나가 첨가된 IPMC는 기존 나피온-IPMC에 비해 작동변위는 2.7배 향상되었고 작동력 또한 크게 향상되었다. $\alpha$-알루미나의 첨가에 따른 작동성능의 향상은 $\gamma$-알루미나가 첨가된 복합막에 비해 상대적으로 높은 $\alpha$-알루미나 복합막의 양성자 전도도 그리고 잘 분산된 알루미나 입자 표면에 존재하는 다량의 수분에 의한 이온/물 이동의 용이성, 또한 순수 나피온 막에 비해 전해질 막과 백금전극 사이의 낮은 전기적 저항 때문인 것으로 결론지었다.

• 센서학회지
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• 제8권1호
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• pp.53-62
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• 1999

MEMS(Microelectromechanical System) 기술분야에서 폭넓게 사용하고 있는 폴리실리콘 박막을 이용하여 폴리실리콘 미소 공진 구조체를 제작하였다. 폴리실리콘 증착은 저압기상화학증착 장비를 사용하여 대칭적 두께로 박막을 적층하였고 폴리실리콘의 응력과 응력구배를 최소화시키기 위한 적층, 도핑 방법 및 열처리에 따른 특성을 분석하였다. 이를 위하여 브리지 빔과 캔티레바 테스트 패턴을 제작하여 기계적 응력 특성을 측정하였으며, 아울러 공정 조건별 개별 시료에 대한 물성을 XRD, SIMS등으로 분석하였다. 공진 구조체는 대칭적 증착 구조를 가지며, 최종적으로 $6.5{\mu}m$의 두께로 적층되었다. 제작된 평면형 공진 구조체의 진동특성은 직류 15V, 교류 0.05V의 구동전압, 1000mtorr 압력에서 공진 진폭이 $5{\mu}m$ Q값이 1270임을 보였으며, 개발된 마이크로 폴리실리콘 공진체는 마이크로 자이로 및 가속도 센서에 응용될 수 있다.