• 한국가시화정보학회지
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• 제16권2호
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• pp.53-58
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• 2018

This paper presents an electromagnetically driven microrobot for the enhancement of mixing performance in high viscous liquid media such as blood and bone marrow. First, an electromagnetic system was fabricated, and the magnetic flux density generated from the system was compared with the theoretical value. Second, the reciprocating motion of the microrobot was demonstrated in microchannel using electromagnetic system. As a proof of concept, the mixing performance by the electromagnetically driven microrobot in high viscous liquid was investigated using safranin solution. As a result, it was completely mixed within 140 s with the reciprocating motion of the microrobot while it took 1680 s for natural diffusion. In addition, the mixing efficiency was quantitatively evaluated through a mixing index obtained by an image analysis. The proposed method provides not only wireless actuation of a microrobot with a simple design but also high mixing performance in variety of high viscous liquid media.

• International Journal of Control, Automation, and Systems
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• 제2권3호
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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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.65-69
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• 2004

The small form factor optical data storage devices are developing rapidly nowadays. Since it is designed for portable and compatibility with flash memory, its components such as disk, head, focusing actuator, and spindle motor should be assembled within 5 m thickness. The thickness of focusing actuator is within 2 mm and the total working range is $+/-100{\mu}m$, with the resolution of less than $1{\mu}m$. Since the thickness is limited tightly, it is hard to place the yoke that closes the magnetic circuit and hard to make strong flux density without yoke. Therefore, Halbach array is adopted to increase the magnetic flux of one side without yoke. The proposed Halbach array type focusing actuator has the advantage of thin actuation structure with sacrificing less flux density than conventional magnetic array. The optical head unit is moved on the swing arm type tracking actuator. Focusing coil is attached to swing arm, and Halbach magnet array is positioned at the bottom of deck along the tracking line, and focusing actuator exerts force by the Fleming's left hand rule. The working range and resolution of focusing actuator are analyzed with FEM and experiment.

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

• 대한기계학회논문집A
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• 제33권11호
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• pp.1300-1305
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• 2009

The various electromagnetic based actuation(EMA) methods have been proposed for actuating microrobot. The advantage of EMA is that it can provide wireless driving to microrobot. In this reason a lot of researchers have been focusing on the EMA driven microrobot. This paper proposed a swimming microrobot driven by external alternating magnet field which is generated by two pairs of Helmholtz coils. The microrobot has a fish-like shape and consists of a buoyant robot body, a permanent magnet, and a fin. The fin is directly linked to the permanent magnet and the magnet is swung by the alternating magnet field, which makes the propulsion and steering power of the robot. In this paper, firstly, we designed the locomotive mechanism of the microrobot boy EMA. Secondly, we set up the control system. Finally, we demonstrated the swimming robot and evaluated the performance of the microrobot by the experiments.

• 대한기계학회논문집A
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• 제37권7호
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• pp.899-903
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• 2013

셀프베어링 모터는 하나의 자기 구동기(magnetic actuator)로 회전 구동과 자기부상을 동시에 구현한 전동기로 베어링리스모터 혹은 베어링 내장 모터로 불리기도 한다. 셀프베어링 모터에서 자기부상제어를 구현하기 위해 부상력과 제어전류 간의 모델을 역변환하여야 하는데, 힘-전류 간의 모델을 결정하는 변환행렬이 정방행렬이 아니며, 의사역행렬(pseudo-inverse) 또한 회전자의 각도에 따라 특이점을 가지게 된다. 본 논문에서는 힘-전류 모델에 제한조건을 추가하여 연속적 역변환이 가능한 새로운 방법을 제시하고, 역변환 행렬을 해석적으로 구하였다. 연속적 역변환을 이용한 부상제어기를 구현하여 안정적 부상제어가 이루어짐을 확인하였다. 힘-전류 모델에 추가한 제한조건으로 상전류의 총합이 0 을 유지하여 전류에 의한 고정자 자속밀도를 제거함으로써, 이전 연구에서의 자기포화 문제를 근본적으로 해결하였다.

• 대한기계학회논문집A
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• 제36권5호
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• pp.481-486
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• 2012

본 논문에서는 대변위 구동이 가능한 구동기의 설계를 위해 기존의 전자기력 구동기에 비해 낮은 스프링 상수를 갖는 굴곡형 스프링을 적용하고, 변위가 발생하는 방향으로만 로렌츠힘이 생기도록 굴곡형 스프링의 일부분만 자기장에 노출시키는 구동기를 제안한다. 굴곡형 스프링의 양쪽 부재가 자기장에 노출된 구조(prototype F)와 굴곡형 스프링의 한쪽 부재만을 자기장에 노출시킨 구조(prototype P)를 설계하고, 제작하여 실험한 결과 prototype P 가 굴곡형 스프링의 양쪽 부재를 자기장에 노출시킨 prototype F의 구동성능에 비해 $16.9{\pm}1.2%$의 진폭 증가를 보임을 실험적으로 검증하였다. 제안된 구동기는 제한된 면적 내에서 작은 전류(<50mA)와 작은 자기장(<0.3T)으로 대변위 구동을 가능케 하여 광 스위치 또는 광 단속기 등에 응용이 가능하다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.727-730
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• 2007

Coil inductor has been used widely as an electromagnet, because of the high magnetic filed resulting from the voltage applied to the coil. In this study the coils were used in vibration suppression as an actuator. The control system consists of a coil attached in aluminum beam and a permanent magnet set at its bottom. This actuation method is easy to be incorporated into the system and allows significant forces to be applied without contacting with the structure. Three types of coils (cylindrical type, square type, Circular sheet type) were employed in vibration suppression of cantilever beam. The positive position feedback (PPF) controller was applied to the magnet-coil actuator to suppress the first mode of vibration. Experimental results showed that the cylindrical type and square type coil made good vibration suppression efficiency under PPF controller than their eddy current damper. However, there was minimal difference for the circular sheet type coil if compared with its eddy current damper.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 A
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• pp.168-170
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• 1997

This paper presents the dynamic analysis of a reciprocating actuation system based on moving magnet actuator for gas compression. For the analysis of the linear actuator, an axisymmetric finite element method (FEM) considering the saturation effect of the magnetic material is used, and electrical circuit equation, mechanical dynamic equation and pressure dynamics are coupled. In the FE analysis, we adopt a moving line technique. The pressure dynamics of the gas in the compressor is modeled by using the law of thermodynamics. The analysis results are compared fairly well with experimental ones.

• 유공압시스템학회논문집
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• 제7권4호
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• pp.23-31
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• 2010

As the analysis and design technologies for electro-magnetic actuation has advanced over the years, proportional solenoid valve is gaining acceptance in wide range of industrial and commercial applications because of its superior characteristics over the conventional AOV or MOV, such as improved performance, reduced maintenance costs. This research deals with the position controller design of two-stage flow control solenoid valve. Investigation of steady-state characteristics and dynamic model identification for pilot disc is performed. Least square method to minimize the error magnitude of frequency response between the closed-loop and target system is applied to the design of PI-controller gains. From the experiments of step and frequency response, it is concluded that the controller meets the performance specification of target system, which verifies the usefulness of controller design method for proportional solenoid valve.