• 한국소음진동공학회논문집
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• 제18권11호
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• pp.1134-1142
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• 2008

In this paper, a model-based stick-slip compensation for the micro-positioning is proposed using an enhanced stick-slip model based on statistical rough surface contact model. The smart structure is comprised with PZT(lead (Pb) zirconia(Zr) Titanate(Ti)) based stack actuator incorporating with the PID(proportional-integral-derivative) control algorithm, mechanical displacement amplifier and positioning devices. For the stick-slip compensation, the elastic-plastic static friction model is used considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of system for the positioning apparatus was derived from the dynamic behaviors of structural parts. PID feedback control algorithms with the developed stick-slip model as well as feedforward friction compensator are formulated for achieving the accurate positioning performance. Experimental results are provided to show the performances of friction control using the developed positioning apparatus.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2009년도 추계학술대회
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• pp.521-524
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• 2009

신경자극반응 측정 플랫폼을 구현하는데 있어서 손가락 움직임을 감지하는 것이 중요한 요소로 작용하고 있다. 이것은 손가락의 움직임에 따라 신경자극과 근육반응이 달라지기 때문이다. 즉, 손가락의 움직임을 감지해서 신경 자극 Actuator 및 근육 반응 감지를 위한 H/W 개발이 필요한 것이다. 또한 임베디드 기반으로 가기위한 저전력 CPU를 사용하였다. H/W 구성은 isolation power부분, 정전류조절, High impedance INA, 증폭기부분이 있으며 Micro-controller에서는 stimulus mode 및 Current 의 상태를 통제하고, AD converter를 통해 얻어진 Low Data를 처리 시스템을 구현한다.

• 한국소음진동공학회논문집
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• 제13권10호
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• pp.777-784
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• 2003

본 논문에서는 압전소자를 이용한 코너 지지된 직사각형 박판의 음향 반응에 대한 제어에 관하여 이론과 실험적인 연구를 하였다. 3개의 각각 다른 종횡비의 알루미늄판을 사용하였고 고정은 4개의 코너에서 볼조인트를 이용하였다. 그 결과 종횡비가 가장 큰 박판에서 0∼200Hz 진동수와 80∼100dB의 음압의 가진에서 예측대로 가장 크고 선명한 응답을 보였다. 압전소자에 의한 판을 통한 음향전달 감소는 크지 않았지만, 압전소자를 이용한 음향반응 제어는 기대 이상으로 현저하였다. 본 실험은 항공기 승강문의 음장 가진에 대한 선행 연구를 확장시킨 독창적인 연구이다. 가장 중요한 차이점은 문의 조인트를 볼 조인트로 모사한 것이다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.422-428
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• 2002

In this study, actuator, sensor, guide, power transmission element and control method are considered for ultra-precision positioning apparatus. Through previous process, single plane X-Y stage with ultra-precision positioning is manufactured. Global stage for the purpose of materialization with robust system, is combined by using AC servo motor and ball screw and rolling guide. And ultra-precision positioning system is developed by micro stage with elastic hinge type and piezo element. global servo and micro servo for the purpose of materialization positioning accuracy with nm(nanometer) are controlled simultaneously by using incremental encoder and laser interferometer as displacement measurement sensor. Through previous process, ultra-precision positioning system (100mm stroke and ${\pm}$ 10nm positioning accuracy) with single plane X-Y stage are materialized.

• 한국생산제조학회지
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• 제7권6호
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• pp.132-140
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• 1998

Recently, precision machining technology has been developed continuously in order to make high productivity and quality assurance of the precision parts of several industrial fields. Waviness may occur on the surface of the machined parts due to the table motion error and the dynamic cutting mechanism between the tool and the workpiece. The waviness may fall off the form accuracy of the precision machine parts. In the research, a micro cutting device with piezoelectric actuator has been developed to control precise depth of cut and compensate the waviness on the surface of the workpiece. Experiments have been carried out in the precision lathe. The characteristics of the surface profile and cause of the waviness profile have been analyzed and waviness profiles of some cause have been compared with those of experiments.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.99-104
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• 2004

Micro/meso cutting is getting more important in the fields of precision machining technology. A micro-turning lathe is one of parts to consist the Micro Factory. It accepts stepwise motion actuators that are used for feeding system instead of the conventional mechanism. It is consisted of two Piezoelectric ceramics; one is for feeding the slider, and the other is for clamping the slider in the guide way of the body. The linearity and positional accuracy of the actuators are good enough for high precision motion. The spindle unit is operated with DC motor on the top of the slider. The motion is communicated with miniaturized linear encoder attached on each side of axis. A mono crystal diamond tool is used for cutting tool. This micro-lathe has been made a machining experiment to see the characteristics of micro-machining.

• 한국정밀공학회지
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• 제28권7호
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• pp.851-858
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• 2011

Nanopositioning technologies play an important role in the progress of electronics, optics, bio-engineering and various nano-scale technologies. As a result, various practical nanopositioning methods have been successfully introduced. Flexure mechanism is a valuable method in nanopositioning because of smooth and friction-free motion and the infinitesimal movement near to sub-nm. In this study a modularized nanopositioner based on parallelogram four-bar linkage structure with right-circular flexure hinge was developed. The positioning performance of a single axis nanopositioner and a XY nanopositioner which was extended from single axis one were demonstrated using control experiments. Consequently, it was shown that the developed single axis nanopositioner possessed high performance and could be extended to various multi-axis nanopositioners.

• 로봇학회논문지
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• 제2권1호
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• pp.64-70
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• 2007

In this paper, a robotic system which consists of a precision manipulator and a micro gripper for a micro system assembly is presented. By the experiment, we proved that the developed the system gives acceptable performance when minute operations. Developed the micro-nano robot is actuated by newly proposed modular revolute and prismatic actuators. As an end-effector of this system, micro gripper is designed and fabricated with MEMS technology and the displacement of jaw is up to 142.8 micro meter. We think that new robot system will be appropriate for micro system assembly tasks and life science application.

• Smart Structures and Systems
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• 제14권3호
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• pp.267-284
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• 2014

This paper aims to present the analytical solutions of 2-2 cement based piezoelectric transducers in series electrically based on the theory of piezo-elastic dynamics. The solutions of two different kinds of 2-2 cement based piezoelectric transducers under external harmonic load are obtained by using the displacement method. The effects of electrical connection of piezoelectric layers, loading frequency, thickness and distance of piezoelectric layers on the characteristics of the transducers are discussed. Comparisons with other related experimental investigations are also given, and good agreement is found. The proposed 2-2 cement based piezoelectric transducers have a great potential application in monitoring structural health in civil engineering and capturing mechanical energy or monitoring train-running safety in railway system and traffic safety in road system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2658-2661
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• 2004

압전 구동기는 전기적 에너지를 직접 동역학적 에너지로 변환하는 세라믹 구동기이다. 특히 압전 구동기의 개방 회로 시스템은 분자 구조 특성에 의해 비선형적인 히스테리시스 특성과 크리프 특성을 가진다. 이러한 비선형적 시스템을 작은 분해능으로 제어하는 경우 이에 따른 외란, 모델링의 불확실성 둥의 오차가 발생하게 된다. 따라서, 현재 이러한 비선형적 오차를 기존의 PID 및 최적제어를 사용하여 보상하는 방법에 대해서 많은 연구가 진행되고 있다. 본 논문에서는 압전 구동기 위치 결정 시스템 전체에 대해 LQG 제어 및 $H_{\infty}$ 제어를 적용하여 시뮬레이션을 실시하였다. 또한 본 논문은 시뮬레이션 결과를 바탕으로 실제 압전 구동기 위치 결정 시스템에 $H_{\infty}$ 제어를 적용하여 제안된 $H_{\infty}$ 제어기가 시스템 성능에 영향을 주는 외란, 모델링의 불확실성 등을 효과적으로 제거함을 보여준다.