• 제어로봇시스템학회논문지
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• 제9권8호
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• pp.592-599
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• 2003

As one of the Principal modalities of human sensation, tactile feel is prerequisite for building wide variety of applications such as telemanipulation, virtual reality and medical engineering. A dynamic Braille display device based on a polymer actuator is presented. The actuator, often called artificial muscle actuator has advantageous features over the existing methods in terms of intrinsic softness, ease of fabrication, cost-effectiveness and miniaturization. The principles of actuation with dielectric elastomer is introduced, and necessary considerations on the design of a tactile display device are discussed. The design of the device is described in detail including the fabrication process and driving electronics. Also, preliminary results of experiments are given to evaluate its performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.310-313
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• 2005

In recent years, as the robot technology is developed, the researches on the artificial muscle actuator that enable robot to move dexterously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electro-active polymer. These actuators have the higher energy density than the electro-mechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper, the simulation of anthropomophic robotic hand is performed using ADAMS and the segmented binary control for reducing the hysteresis of SMA is proposed. SMA is controlled by thermo-electric module. The relations between the force and the hysteresis are developed to verify the validity of the suggested method.

• 항공우주시스템공학회지
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• 제15권6호
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• pp.1-9
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• 2021

In this study, a new design of an extension-type actuator (ExACT) is proposed based on a chevron structure with displacement amplification mechanisms by local heating. ExACT comprises diamond-shaped displacement amplification structures (DASs) containing axially oriented V-shaped chevron beams, a support bar that restricts lateral heat deformation, and a loading slot for thin-film heaters. On heating the thin film heater, the diamond-shaped DASs undergo thermal expansion. However, lateral expansion is restricted by the support bar, leading to displacement amplification in the axial direction. The performance parameters of ExACT such as temperature distribution and extended displacement is calculated using thermo-mechanical analysis methods with the finite element method (FEM) tool. Subsequently, the ExACTs are fabricated using a polymer-based 3D printer capable of reproducing complex structures, and the performance of ExACTs is evaluated under various temperature conditions. Finally, the performance evaluation results were compared with those of the FEM analysis.

• 한국고분자학회:학술대회논문집
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• 한국고분자학회 2006년도 IUPAC International Symposium on Advanced Polymers for Emerging Technologies
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• pp.246-246
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• 2006

Ionic polymer-metal composite (IPMC) soaked with various ionic liquids was prepared by using polystyrene sulfonic acid-grafted poly(vinylidene fluoride-co-hexafluoropropylene) as ion-exchange membrane (IEM). The prepared IPMCs were effectively deformed three times larger and actuated for 300 times longer than those of Nafion with water at the same applied conditions. The experimental results indicated than the increase in the bending capability can be caused by the increase in the improved properties of the IEMs and ionic liquids such as uptake content and ionic conductivity. And air-operating stability of the IPMCs is appreciably governed by various physical and electrochemical properties of soaked solvents in IEMs.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 C
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• pp.1878-1880
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• 2001

In order to fabricate the stable conductive polymer actuators which are operated in air. Nafion with mixture of LiCl has been used as solid polymer electrolyte material. Based on these materials, beam type and sandwich type actuators have been fabricated and mechanical properties are measured. This kind of all-solid-polymer actuator can be used for practical applications.

• 대한기계학회논문집A
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• 제36권12호
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• pp.1497-1502
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• 2012

복잡한 구조와 다채로운 기능을 수행하는 사람 손의 기능을 모사하는 로봇 손을 제작함에 있어서 유연성 있는 구동기와 센서의 개발이 필수적으로 요구되고 있다. 본 논문에서는 전기활성 고분자를 기반으로 하여 로봇 손에 사용될 수 있는 구동기와 슬립센서의 설계, 제작 및 성능검증에 대한 내용을 소개한다. 전기활성 고분자는 필름형태로 제작되며 양단에 전압을 가하여 수축과 팽창에 따른 움직임이 발생하게 한다. 이와 반대로 전기활성 고분자에 외부의 압력으로 인해 두께나 면적의 변화가 발생하게 되면 정전용량의 변화가 발생하게 된다. 이러한 에너지의 변화소자를 이용하여 구동기와 센서로 이용하였다. 본 논문에서는 전기활성 고분자를 이용한 구동기와 센서를 제시하고 성능평가를 통해 새로운 로봇 손용 에너지 변환 소자로서의 가능성을 연구하였다.

• 소음진동
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• 제5권3호
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• pp.313-325
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• 1995

Two active/passive vibration dampers were designed to control a cantilever beam first mode of vibration. The active element was a piezoelectric polymer, polyvinlidene fluoride (PVDF). The passive damping was provided by the application of a viscoelastic layer on the surface of the steel beam. Two substantially different damper configurations were designed and tested. One damper consisted of a piezoelectric actuator bonded to one face of the beam, with a viscoelastic layer applied to the other surface of the beam. The second one was composed of a layer viscoeastic layer with one surface bonded to the beam, and with other being constrained by nine piezoelectric actuators connected in parallel. A control law based on the sign of the angular velocity of the cantilever beam was implemented to control the beam first mode of vibration. The piezoelectric sensor output was digitally differentiated to obtain the transverse linear velocity, and its sign was used in the control algorith. Two dampers provided the system a damping increase of a factor of four for the first damper and three for the second damper. Both dampers were found to work well at low levels of vibration, suggesting that they can be used effectively to prevent resonant vibrations in flexible structure from initiating and building up.

• 한국음향학회지
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• 제22권3호
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• pp.202-207
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• 2003

초음파트랜스듀서는 초점거리의 제어를 위해서 각 진동요소에 전기회로를 이용한 위상가중치를 부가하는 방식을 사용하고 있다. 그러나 이러한 방법은 진동요소가 증가함에 따라 전기회로가 더욱 복잡해진다. 본 연구에서는 바이몰프형 액츄에이터를 신호의 송수신을 하는PVDF의 뒷부분에 삽입하여 선집속형 트랜스듀서를 제작하였다. 이 트랜스듀서를 사용하여 액츄에이터에 인가되는 전압 변화에 의해 기계적으로 초점거리를 제어할 수 있었다. 이 방법을 사용한 결과 수중에서 선집속형 초음파 트랜스듀서의 초점거리를 곡률 반경의 10%범위까지 제어 가능함을 확인하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 춘계학술대회 논문집
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• pp.355-356
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• 2009

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 춘계학술대회 논문집
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• pp.610-611
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• 2009