• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.2
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• pp.44-49
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• 1999

This paper is concerned with the theoretical and experimental study on the force conrtrol of a miniature robotic gripper. The gripper is an uniform flexible cantilever equipped with a distributed set of compact force sensor. As an actuator piezoelectric acturator, piezoelectric acturator is fixed with cupper plate at which the beam is clamped. The mathematical model of the assembled electro-mechaincal system is developed. The force sensor is described by a set of concentrated mass-spring system. The formulated equations of motion are applied to he study of a control problem where the gripper is commanded to grip an object The usefulness of the PID control technique is verified by experiment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.391-395
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• 1996

This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy(SMA) actuators. The mathematical governing equation of the proposed system is derived by Hamilton's principle and Lagrangian equation and then, the control system model is integrated with the first-order actuator dynamics. Uncertain system parameters such as time constant of the actuators are also included in the control model. A robust two degree of freedom(TDF) controller using H$_{\infty}$ control theory, which has inherent robustness to model uncertainties and external disturbances, is adopted to achieve end-point force tracking control of the two-finger gripper. Force tracking control performances for desired trajectories represented by sinusoidal and step functions are evaluated by undertaking both simulation and experimental works.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.04a
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• pp.130-135
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• 1996

This paper presents a proof-concept investigation on the active vibration control of two hybrid smart structures (HSSs). The first one is consisting of a piezoelectric film (PF) actuator and an electro-rheological fluid(ERF) actuator, and the other is featured by a piezoceramic (PZT) actuator and a shape memory alloy (SMA) actuator. For the PF/ERF hybrid smart structure, both the increment of the damping ratios and the suppression of the tip deflections are evaluated in order to demonstrate control effectiveness of the PF actuator and ERF actuator and the hybrid actuation. For the PZT/SMA hybrid smart structure, the PZT actuator takes account of the high frequency excitation, while the SMA actuator exerts large vibration control force. The experimental results exhibit superior abilities of the hybrid actuation systems to tailor elastodynamic responses of the HSS rather than a single class of actuation system alone.

• Journal of the Korean Ceramic Society
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• v.34 no.4
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• pp.337-342
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• 1997

This paper describes the design and evaluation of new type piezoelectric bimorph actuator that shows much large mechanical response than those conventional types. The bimorph actuator has modified structure combined with the multilayer actuator(MLA) and the composite multilayer actuator called "Moonie". The design and performancean alysis of bimorph actuator are carried out with Finite Element Method (FEM). Theoretical calculation results show that the generating force and displacement of Moonie-modified bimorph actuator can be improved by about 130% and 150%, respectively. The overshooting and ringing phenomena of the bimorph can be effectively restrained by the pseudo step electric field having a rising time coincied with a period of the fundamental vibration mode of the bimorph.e bimorph.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.234-238
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• 2003

Ultra small optical drive or PCMCIA type needs a focusing actuator because or applying Blue Laser and enhancing compatibility according to disk physical specification. Based on this need, this paper presents a novel focusing actuator adapted for ultra small optical drive of PCMCIA type. The focusing actuator using Lorenz force generated consists of coil, magnets and plate springs of pivoting. The design issues of the focusing actuator are the flexibility to focus direction, the rigidity to track direction and the higher natural mode of the moving part. For settling these Issues, this paper present mechanical design, computer simulations and test results of the realized focusing actuator. Finally, suitability and usefulness of the focusing actuator was demonstrated by the comparison of simulations and test results in a view of the possibility adapted for ultra small optical drive.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.06a
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• pp.44-44
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• 2007

New inchworm type piezoelectric actuator design, which can reduce the number of the piezoelectric body for manufacturing inchworm type actuator, is suggested in this work. Inchworm type actuator consists of three or more piezoelectric bodies, on the other hand the new-designed inchworm type actuator has only one piezoelectric body. The one piezoelectric body that size is $2\;{\times}\;2\;{\times}\;4\;[mm^2]$ (DWL) has 2 clamping part and 1 extending part. The size of the new-designed actuator with one piezoelectric body is $5\;{\times}\;6\;{\times}\;9\;[mm^2]$ (DWL). The new-designed inchworm type actuator performed the operation at a cycle (6 steps) of $0.3{\mu}m$ per $33.3{\mu}s$ and a generated force of 0.6N.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.592-596
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• 2001

Near field technology makes it possible to overcome the diffraction limit of laser beam and create the small spot. Because of the small spot size, the pit size and track pitch can be decreased. So the high performance actuator is needed for near field recording system. And the light mass and the small form factor are also important properties of the NFR actuator in order to be used for hand held device. The purpose of this paper is the optimal design of the NFR coarse actuator to maximize actuating force. The structure of NFR coarse actuator is the same as HDD VCM actuator. The permeance method is used for modeling of the coarse actuator. The optimal result and the FEM simulation result are presented.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.279-288
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• 2004

This paper presents a novel design for a tubular linear brushless permanent-magnet motor. In this design, the magnets in the moving part are oriented in an NS-NS―SN-SN fashion which leads to higher magnetic force near the like-pole region. An analytical methodology to calculate the motor force and to size the actuator was developed. The linear motor is operated in conjunction with a position sensor, three power amplifiers, and a controller to form a complete solution for controlled precision actuation. Real-time digital controllers enhanced the dynamic performance of the motor, and gain scheduling reduced the effects of a nonlinear dead band. In its current state, the motor has a rise time of 30 ms, a settling time of 60 ms, and 25% overshoot to a 5-mm step command. The motor has a maximum speed of 1.5 m/s and acceleration up to 10 g. It has a 10-cm travel range and 26-N maximum pull-out force. The compact size of the motor suggests it could be used in robotic applications requiring moderate force and precision, such as robotic-gripper positioning or actuation. The moving part of the motor can extend significantly beyond its fixed support base. This reaching ability makes it useful in applications requiring a small, direct-drive actuator, which is required to extend into a spatially constrained environment.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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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.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2534-2536
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• 2005

In this paper, we apply sliding control law to a nonlinear electro-hydraulic suspension system. The force the actuator must track is determined by the skyhook control law and the desired force value varies according to the road situation. The road frequencies can inform us of the current road situation. Detecting the road frequencies, we use the Fourier Transform.