• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.168-174
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• 2012

This paper presents a bending propagating actuation using SMA (Shape Memory Alloy) spring for an effective shape transition of a flytrap-inspired soft morphing structure. The flytrap-inspired soft morphing structure is made from unsymmetric CFRP (Carbon Fiber Reinforced Prepreg) structure which shows bi-stability and snap-through phenomenon. For a thin and large curved bistable CFRP structure, SMA spring is more acceptable than SMA wire and piezoelectric actuator which used in previous investigations. A bending propagating actuation is proposed which can induce snap-through of the bi-stable CFRP structure effectively. From this research, effective shape transition of soft morphing structure is possible.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.803-804
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• 2010

• 한국정밀공학회지
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• 제30권1호
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• pp.39-46
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• 2013

Smart material such as SMA (Shape Memory Alloy) has been studied in various ways because it can perform continuous, flexible, and complex actuation in simple structure. Smart soft composite (SSC) was developed to achieve large deformation of smart material. In this paper, a shell actuator using woven type SSC was developed to enhance stiffness of the structure while keeping its deformation capacity. The fabricated actuator consisted of a flexible polymer and woven structure which contains SMA wires and glass fibers. The actuator showed various actuation motions by controlling a pattern of applied electricity because the SMA wires are embedded in the structure as fibers. To verify the actuation ability, we measured its maximum end-edge bending angle, twisting angle, and actuating force, which were $103^{\circ}$, $10^{\circ}$, and 0.15 N, respectively.

• Composites Research
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• 제28권2호
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• pp.52-57
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• 2015

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

• 접착 및 계면
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• 제25권2호
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• pp.69-74
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• 2024

소프트 액추에이터는 구성 재료 자체가 가지는 유연성과 부드러운 움직임으로 인해 의료 산업과 제조업 등 다양한 분야에서의 응용이 기대되고 있다. 자극감응성 하이드로젤은 유연하며 다양한 주위 자극에 의해 큰 부피 변화를 보일 수 있는 물질로서 소프트 액추에이터 재료로서 적합하다. 하지만, 자극감응성 하이드로젤의 부피 변화는 온도 변화의 속도 및 용매의 확산 속도에 기인하여 대부분의 작동 조건에서 느린 속도로 진행되며 이는 액추에이터의 반응속도를 제한한다. 본 연구에서는 온도감응성 하이드로젤인 polydiethylacrylamide에 광열효과를 가지는 공액고분자를 도입하여 빛에 의해 구동되는 소프트 액추에이터를 구현하였고, 공액고분자의 광열효과에 의한 반응속도의 개선효과를 조사하였다. 공액고분자의 도입에 의해 반응시간이 41% 개선됨을 확인하였고 이는 열전달 효율의 개선에 의한 것으로 짐작할 수 있다. 최종적으로 이러한 개선된 반응속도의 하이드로젤이 적용된 소프트 그리퍼를 제작하였고 반응속도를 조사하였다.