• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.284-294
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• 2008

In this paper, we describe an implementation of small mobile robot that can be used at research and application of mobile sensor networking. This robot that will constitute the sensor network, as a platform of multi-robot system for each to be used as sensor node, has to satisfy restrictions in many aspects in order to perform sensing, communication protocol, and application algorithms. First, the platform must be designed with a robust structure and low power consumption since its maintenance after deployment is difficult. Second, it must have flexibility and modularity to be used effectively in any structure so that it can be used in various applications. Third, it must support the technique of wireless network for ubiquitous computing environment. At last, to let many nodes be scattered, it must be cost-effective and small. Considering the above restrictions of the mobile platform for sensor network, we designed and implemented robots control the current of actuator by using additional circuit for power efficiency. And we chose MSP430 as MCU, CC2420 as RF transceiver, and etc, that have the strength in the aspect of power. For flexibility and modularity, the platform has expansion ports. The results of experiments are described to show that this robot can act as sensor node by RF communication process with Zigbee standard protocol, execute the navigation process with simple obstacle avoidance and the moving action with RSSI(Received Signal Strength Indicator), operate at low-power, and be made with approx. $100.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.75-78
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• 2003

Mobile Robot climbing stairs needs high power and high efficiency. one of the high power type motor is Transverse Flux Motor (TFM). Moreover, TFM is a high force density per volume. We analyzed a characteristic for the TFM and simulated the parametric research of the TPM by using 3D FEM solutions. It presents to design the basis of the TPM. design parameters are Radius of outer rotor, pole height, pole depth, pole depth, airgap, and Magnetomotive force.

• 전자공학회논문지S
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• 제34S권12호
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.883-889
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• 2005

Micro robots have been developed for many applications: medical, industrial, military, and so on. A small mobile robot was built and it has three legs made of bimorph piezoelectric actuators. It proceeds by vibrating the rear leg and it rotates by vibrating one of the front legs. The locomotion of the robot is described by relative position of mass center and the friction between the legs and the floor. This paper describes the principles of locomotion and modeling of the robot Modeling was simulated to investigate the dynamics of its mobility. The simulation results verified the modeling by showing similar movement of the robot as measured. It remained, however, several problems through experiments such as crooked direction of forward movement and proceeding speed.

• Journal of Mechanical Science and Technology
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• 제16권1호
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• 대한기계학회논문집A
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• 제36권3호
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• pp.289-295
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• 2012

최근에 들어 서비스 로봇의 효율성 향상을 위한 이동로봇에 대한 연구가 활발하다. 이동로봇은 서비스 로봇의 이동성을 향상시킴으로써, 다양한 공간에서 작업을 할 수 있도록 한다. 그러나 기존의 서비스 로봇은 높은 무게중심으로 인하여 작업 중 전복의 가능성이 높다. 또한, 이동로봇에 사용되는 바퀴는 작고 가벼우며, 환경에 따라 바퀴의 종류를 바꿔야 하므로 기존의 허브형 모터는 한계가 있다. 이를 해결하기 위하여 본 연구에서는 이동로봇에 적합한 허브형 구동모듈과 가변접지면 메커니즘을 개발하였으며, 전방향 이동로봇에 적용하였다. 이를 통해 이동성 및 안정성을 향상과 다양한 작업공간에서의 효율성 향상시켰다. 또한 다양한 시험을 통하여 제안한 메커니즘의 성능을 검증하였다.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.795-800
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• 2014

In this paper, a vibrotactile pad system, T-mobile, is developed to provide vibrotactile cues for hand-held devices. A grooved and slim design is adapted to the back-side plane of the T-mobile, and the contact part consists of 12 vibrotactile panels which can operate independently and separately. To be isolated among vibrotactile actuators, the surface of the cover is divided into several pieces. Each vibrating module consists of a linear resonant actuator, a section of covering surface, and a vibration isolator. In order to provide spatial and directional information, sensory saltation and phantom sensation are applied to the T-mobile. To evaluate the developed device, two experiments were conducted to test whether directional information and spatial information can be successfully displayed by the device. Additionally, in order to find optimal stimulation by sensory saltation, an empirical test was conducted. As a result, spatial and directional information would be useful for displaying intuitive information for hand-held devices with vibrotactile feedback and reasonable near-optimal value for sensory saltation was obtained.

• Journal of Mechanical Science and Technology
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• 제17권9호
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• pp.1268-1275
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• 2003

In this paper, a compact 3-DOF mobile microrobot with sub-micron resolution is presented. It has many outstanding features : it is as small as a coin ; its precision is of sub-micrometer resolution on the plane ; it has an unlimited travel range ; and it has simple and compact mechanisms and structures which can be realized at low cost. With the impact actuating mechanism, this system enable both fast coarse motion and highly precise fine motion with a pulse wave input voltage controlled. The 1 -DOF impact actuating mechanism is modeled by taking into consideration the friction between the piezoelectric actuator and base. This modeling technique is extended to simulate the motion of the 3-DOF mobile robot. In addition, experiments are conducted to verify that the simulations accurately represent the real system. The modeling and simulation results will be used to design the model-based controller for the target system. The developed system can be used as a robotic positioning device in the micromanipulation system that determines the position of micro-sized components or particles in a small space, or assemble them in the meso-scale structure.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.1157-1164
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• 2003

Dynamic Load/unload (L/UL) mechanism is an alternative to the contact start stop (CSS) technology which eliminates stiction and wear failure modes associated with CSS. Other benefits of L/UL include increased areal density due to smooth disk surfaces, thinner overcoats, and lower head flying height Improved shock resistance due to elimination of head slap, and reduced power consumption. Inertia latch mechanism becomes important for mobile disk drives because of non operating shock performance. Various types of latch designs have been introduced in hard disk drives to limit a rotary actuator from sudden uncontrolled motion. In this paper, a single spring inertia latch is introduced for a small form optical disk drive, which uses a rotary actuator for moving an optical pick-up. A new small inertia latch with single spring is designed to ensure both feasible and small size. The shock performance of the new inertia latch is experimentally verified.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2005년도 하계학술대회 논문집 Vol.6
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• pp.62-63
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• 2005

Recently, a tiny piezoelectric linear motor using a vibration made of the transducer has been invented. The motor consists of a shaft, mobile element, and piezoelectric transducer using a piezoelectric radial mode bimorph disk. The fringe of the bimorph disk is fixed firmly which means this area has no degree of freedom. Therefore, the radial mode of the tranducer transfers to the flexurd mode. The mobile elements move along the shaft by the impact force generated by the flexurd mode of the piezoelectric transducer. The piezoelectric ceramic disks have thickness of 0.1 mm and diameter of 3.5 mm. The elastic disk is introduced between two disks of the ceramic, which has thickness of 0.1 mm and diameter of 3.8 mm. The fringe of the elastic disk is fixed by a brass cylinder which height is 1.2 mm. The Pyrex shaft is used which has diameter of 1 mm and height of 10 mm. The motors are operated at their resonant frequencies. The dynamic properties of the motor have been intensively measured and analyzed according to the applied voltage wave forms at the resonant frequencies. As the sawtooth and rectangular voltage waves are applied, the velocity, the thrust force, and the velocity dependence of the mobile position are measured. The dynamic characteristics are also analyzed within a period of each wave using laser vibrometer. The velocity of the mobile is moderately constant along the shaft. The better dynamic characteristics are obtained in the case of applying the rectangular wave.