• Journal of Mechanical Science and Technology
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• 제19권3호
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 한국추진공학회지
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• 제14권6호
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• pp.89-102
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• 2010

본 논문에서는 항공우주분야의 구동장치와 여러 산업분야에서 응용되고 있는 미래 지향적 구동기의 기술에 대한 사항과 발전방향에 대해 연구하였다. 특히, 항공기 비행조종면 구동장치의 경우 기존에는 기계식 링키지나 무게 대비 출력이 높은 유 공압 구동기가 많이 사용되었으나 최근에는 대부분의 항공기에서 사용 중인 Fly-By-Wire 시스템과 더 나아가 'More Electric', 'All Electric' 시스템으로의 변화가 이루어지고 있다. 전기식 유압구동기와 전기식 구동장치의 경우 효율이나 안전성 그리고 비용적인 측면에서 우수하기 때문에 근래에 지속적인 개발이 진행되고 있다. 또한, 최근에는 구동기의 무게와 정밀도 그리고 응답속도의 향상을 위해 신소재를 이용한 새로운 분야의 구동기들이 개발되고 있다. 따라서 본 연구를 통해서 차세대 항공우주분야 구동장치와 신개념 구동기들의 세부기술 및 발전방향을 제시하고자 한다.

• 제어로봇시스템학회논문지
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• 제8권4호
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• pp.345-350
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• 2002

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. The colonoscopy is generalized, but if requires much time to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. biomedical and robotic researchers are developing a locomotive colonoscope that can travel safe1y in colon. In this paper, we propose a new actuator and concept of semi-autonomous colonoscope. The micro robot comprises camera and LED for diagnosis, steer- ing system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to pass over haustral folds in colon. For locomotion of semi-autonomous colonoscope, we suggest an actuator that is based on impact force between a cylinder and a piston. In order to validate the concept and the performance of the actuator, we carried out the simulation of moving characteristics and the preliminary experiments in rigid pipes and on the colon of pig.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• 대한기계학회논문집A
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• 제40권3호
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• pp.289-296
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• 2016

본 연구에서는 공압인공근육을 구동부로 가지는 내부형 연속체로봇의 기구학을 제시한다. 연속체로봇 단일마디는 세 개 인공근육의 병렬구조로 구성되며, 각 인공근육은 가해지는 공기압력에 의해서 독립적으로 수축하여 근육의 한쪽이 부착된 기준 마디절에 대해서 근육의 다른쪽이 연결된 원격의 마디절의 공간상 운동이 발생한다. 인공근육의 굽힘형상을 고려하여 원격 마디절 중심에서의 방위와 위치를 예측하는 기구식을 유도하였으며, 단일 마디를 여러 층으로 적층하였을 때 로봇 말단장치에서의 방위와 위치도 변환행렬의 곱으로 제시한다. 그리고 인공근육의 길이/압력 변화에 따른 말단장치에서의 속도를 계산하는 자코비안 행렬을 구동부의 위치배열을 고려하여 유도하였고 실제 실험을 통해서 제시한 기구식의 유효성을 검증하였다.

• 한국정밀공학회지
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• 제9권2호
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• pp.36-43
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• 1992

In this paper, a robot assembly wrist, which is able to assemble chamferless parts, has been developed. The RCC (Remote Center Compliance) structure is used as a basic structure. 5 position sensors and 4 pneumatic actuators are installed additionally to measure the deformation of RCC structure and correct the errors actively. Due to the restricted direction of actuation, a decision rule which selects the suitable actuator according to the position sensor signals is needed. For this purpose, a neural network is used and it is experimentally shown that the nerual network overcomes system's nonlinearity. This paper presents fundamental experiment results for the insertion of parts with several clearance.

• 한국반도체및디스플레이장비학회:학술대회논문집
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• 한국반도체및디스플레이장비학회 2006년도 추계학술대회 발표 논문집
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• pp.184-189
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• 2006

In the process of accurate manufacture and measurement, it is necessarily required to isolate external or internal vibration due to external disturbance and internal actuators. The higher vibration isolation system gets damping around resonance, the better it is generally. This paper analyzes the performance of an existing passive air-spring for vibration isolation table by rising experiment and simulation. Optimal design for a passive air spring can be obtained by fluting the size of the orifice. Also design for an active isolation system is carried out by applying PID controller and considering non-linearity of pneumatic characteristics with help of look-up table. We have developed the act ive vibration isolation table wi th the bet ter isolation performance.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.87-95
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• 2006

The outlet feeder pipe thinning in a PHWR (Pressurized Heavy Water Reactor) is caused by a high pressure steam flow inside the pipe, which is a well known degradation mechanism called a FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends close to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper describes a mobile feeder pipe inspection robot that can minimize the irradiation dose to human workers by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix the robot body on to the pipe, one extendable and contractible actuator, and a rotation actuator connected to the two gripper bodies to move forward and backward, and to rotate in a circumferential direction.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.346-351
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• 2005

The outlet feeder pipe thinning in a PHWR (Pressurized Heavy Water Reactor) is caused by high pressure steam flow inside the pipe, which is a well known degradation mechanism called FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends closed to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper develops a mobile feeder pipe inspection robot that can minimize the irradiation dose of human workers by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix the robot body on the pipe, one extendable and contractable actuator, and a rotation actuator connected the two gripper bodies to move forward and backward, and to rotate in the circumferential direction