• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.261-264
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• 2004

This paper presents the design and test of elliptical vibration assisted cutting tool post. It is actuated by two piezoelectric actuators which are connected to the moving part through the elastic hinge with its role of imposing the preliminary pressures. These two actuators are located at right angles so that the resulting tool tip moves like a two-dimensional ellipse. Also, the tool post is activated within the region of linear actuation in order to overcome the distorted elliptical motion. For the precise measurement of the displacement of the tool tip, three-dimensional experimental apparatus was designed and the strokes of the tool post in major and minor axes were measured. The results show that the tool post can produce the variety of vibration locus from a circle with a radius of 5 ${\mu}{\textrm}{m}$ to an ellipse with a major axis, a =10 ${\mu}{\textrm}{m}$, and a minor axis, b =2.5 ${\mu}{\textrm}{m}$

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2010년도 하계학술대회 논문집
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• pp.320-320
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• 2010

In the case of existing ultrasonic motors, they have characteristics such as outstanding response speed, speed and high efficiency. However, it's very hard to use practically them as small motors due to complicated structure and expensive cost. This paper proposed v-type ultrasonic linear motor. Stator of the motor is composed of thin elastic body and four ceramics attached to upper and bottom areas of the body. The ceramics have each direction of polarization. When two harmonic voltages which had $90^{\circ}$ phase difference were applied to the ceramics, the symmetric and anti-symmetric displacements were generated at the tip to make the elliptical motion. To find out a model that generates maximum displacement at contact tip, FEM program was used with change of leg-angle. In addition, optimal model was chosen by considering magnitude and shape of displacement according to change of frequency.

• Composites Research
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• 제28권2호
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• pp.52-57
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• 2015

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

• 로봇학회논문지
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• 제12권4호
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• 전기학회논문지
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• 제57권8호
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• pp.1362-1370
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• 2008

This paper describes the design and characteristic analysis of a novel 3-DOF(Degree of Freedom) spherical motor. For multi DOF actuating, several numbers of motors have been used. By the using of normal motors they connected each other in single joint, is necessary to a several type of complex power transmission devices. The 3-DOF spherical motor can drive roll, pitch, and yaw motion in only one unit and it is not necessary to use additional gears and links parts. Therefore the using of 3-DOF spherical motor can eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. In this paper, we propose the novel structured 3-DOF spherical motor and derive its principles of operation. Firstly, we designed concept model of novel structured 3-DOF spherical motor. Next, we derive the control method by calculating the currents. Also, to have intuitive driving control, we express the rotor position in equivalent angle-axis system and determine the exciting period of currents from the calculation result of the currents. To verify the control method, we calculated the currents by the position of rotor. and then we analyzed the characteristics by 3D Finite Element Method when the calculated currents are excited.

• 한국소음진동공학회논문집
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• 제25권12호
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• pp.866-873
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• 2015

The transverse vibration of the deploying beam from rigid hub was analyzed by simulation and experiment. The linear governing equation of the deploying beam was obtained using the Euler-Bernoulli beam theory. To discretize the governing equation, the Galerkin method was used. After transforming the governing equation into the weak form, the weak form was discretized. The discretized equation was expressed by the matrix-vector form, and then the Newmark method was applied to simulate. To consider the damping effect of the beam, we conducted the modal test with various beam length. The mass proportional damping was selected by the relation of the first and second damping ratio. The proportional damping coefficient was calculated using the acquired natural frequency and damping ratio through the modal test. The experiment was set up to measure the transverse vibration of the deploying beam. The fixed beam at the carriage of the linear actuator was moved by moving the carriage. The transverse vibration of the deploying beam was observed by the Eulerian description near the hub. The deploying or retraction motion of the beam had the constant velocity and the velocity profile with acceleration and deceleration. We compared the transverse vibration results by the simulation and experiment. The observed response by the Eulerian description were analyzed.

• Journal of Advanced Marine Engineering and Technology
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• 제33권8호
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• pp.1203-1211
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• 2009

무인잠수정의 동역학은 추진체의 동력학에 의해 큰 영향을 받는다. 무인잠수정의 호버링 또는 저속 상태의 움직임을 제어하는 것은 자동 도킹 혹은 잠수정의 매니퓰레이터의 제어에 있어서 매우 중요하다. 모터기반의 추진체 동역학은 비선형적이며 불확실한 매개변수를 가지고 있다. 결국, 추진기와 동적 커플링을 이루는 무인잠수정의 운동역학도 매우 비선형적이며 불확실한 매개변수를 가지고 있기 때문에 강인제어기가 무인잠수정의 모션제어에 있어서 효과적이라고 할 수 있다. 따라서 본 논문에서는 전기 추진체에 의해 추진되는 무인잠수정의 저속 또는 호버링 상태를 제어하기 위한 강인제어 기법을 보인다. 또한, 비선형성과 불확실한 매개변수가 결합된 무인잠수정의 상태도 강인제어를 이용하여 동시에 제어한다. 강인제어 방법 중에서 슬라이딩 모드 제어기를 설계하여 추진체와 무인잠수정의 불확실한 변수와 비선형성들을 보상하며 원하는 위치를 유지하는 제어방법을 제안하였다. 모의실험을 통하여 제안한 슬라이딩 모드 제어기는 선형제어기인 PD제어기 보다 성능이 우수함을 확인할 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1883-1886
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• 2005

In this paper, a decoupled dual servo (DDS) stage for ultra-precision scanning system with large working range is introduced. In general, dual servo systems consist of a fine stage for short range and a coarse stage for long range. The proposed DDS also consists of a $XY\theta$ fine stage for handling and carrying workpieces and one axis coarse stage. Its coarse stage consists of air bearing guide system and a coreless linear motor with force ripple. The fine has four voice coil motors(VCM) as its actuator. According to a VCM's nature, there are no mechanical connections between coils and magnetic circuits. Moreover, VCM doesn't have force ripples due to imperfections of commutation components of linear motor systems - currents and flux densities. However, due to the VCM's mechanical constraints the working range of the fine is about $25mm^2$. To break that hurdle, the coarse stage with linear motors is used to move the fine about 500mm. Because of the above reasons, the proposed DDS can achieve higher precision scanning than other stages with only one servo. With MATLAB's Sequential Quadratic Programming (SQP), the VCMs are optimally designed for the highest force under conditions and constraints such as thermal dissipations due to its coil, its size, and so on. And for their movements without any frictions, guide systems of the DDS are composed of air bearings. To get precisely their positions, a linear scale with 5nm resolution are used for the coarse stage's motion and three plane mirror laser interferometers with 5nm for the fine's $XY\theta$ motions. With them, on scanning the two stages have same trajectories. The control algorithm is named Parallel method. The embodied ultra-precision scanning system has sub 100nm following error and in-positioning stability.

• 한국인터넷방송통신학회논문지
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• 제14권6호
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• pp.251-257
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• 2014

모터의 일종으로서 엑츄에이터는 전기 에너지를 운동 에너지로 변환하기 위하여 전류를 이용하여 동작하는 메커니즘을 제어하는 시스템이다. 전압을 가청 신호로 변환하는 기능을 갖는 오디오 액츄 에이터로서는 스피커와 증폭기가 흔히 사용된다. 산업 현장에서는 고출력 고양질의 전력 시스템이 필요하다. 이러한 시스템들이 품질이 좋은 출력을 생성하기 위하여 오디오 시스템의 출력 임피던스를 제어해야 만 한다. 우리는 이 논문에서 가변 부하가 연결되어 있는 능동 증폭기 시스템을 구동하기 위한 적응 특성을 전력 공급기를 제시한다. 전기 신호를 오디오 신호로 변환하는 스피커의 저항값이 변동함에 따라 능동 증폭기에 대한 전력 공급 장치는 부하값의 변동에 적응하여 스피커에 최대 전력을 공급하며, 피크전류의 급격한 변동과 과잉전류의 흐름으로부터 증폭기를 보호하게 된다.

• Smart Structures and Systems
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• 제19권3호
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• pp.309-322
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• 2017

In this paper, the buckling, and free vibration analysis of tapered functionally graded carbon nanotube reinforced composite (FG-CNTRC) micro Reddy beam under longitudinal magnetic field using finite element method (FEM) is investigated. It is noted that the material properties of matrix is considered as Poly methyl methacrylate (PMMA). Using Hamilton's principle, the governing equations of motion are derived by applying a modified strain gradient theory and the rule of mixture approach for micro-composite beam. Micro-composite beam are subjected to longitudinal magnetic field. Then, using the FEM, the critical buckling load, and natural frequency of micro-composite Reddy beam is solved. Also, the influences of various parameters including ${\alpha}$ and ${\beta}$ (the constant coefficients to control the thickness), three material length scale parameters, aspect ratio, different boundary conditions, and various distributions of CNT such as uniform distribution (UD), unsymmetrical functionally graded distribution of CNT (USFG) and symmetrically linear distribution of CNT (SFG) on the critical buckling load and non-dimensional natural frequency are obtained. It can be seen that the non-dimensional natural frequency and critical buckling load decreases with increasing of ${\beta}$ for UD, USFG and SFG micro-composite beam and vice versa for ${\alpha}$. Also, it is shown that at the specified value of ${\alpha}$ and ${\beta}$, the dimensionless natural frequency and critical buckling load for SGT beam is more than for the other state. Moreover, it can be observed from the results that employing magnetic field in longitudinal direction of the micro-composite beam increases the natural frequency and critical buckling load. On the other hands, by increasing the imposed magnetic field significantly increases the stability of the system that can behave as an actuator.