• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1704-1707
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• 1997

In this work, position and vibratiion control of a two-link manipulator with one flexible link, which an unkoun but bounded payload mass and two pair of artificial muscle-type penumatic actuators, are investgated. A flexible link robot has advantages over a figid link robot in the sense that it is much safer when it cones into contact with its environment, including humans. Furthermore, for the sake of safety, it would be more desirabel if an actuator could deliver required force while maintaining proper compliance. An artificial muscle-type penumatic actuator is adequate for such cases. In this study, a controller based on singular perturbation method, adaptive and sliding mode contro, and .mu.-synthesis is developed. The effectiveness of the proposed control scheme is confirmed through simulations and experiments.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.5
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• pp.100-107
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• 1997

A pneumatic artificial muscle type of actuator, which acts similar to human muscle, is developed recently. In this paper, an adaptive controller is presented for the trajectory tracking problem of a two-degree- of-freedom manipulator using two pairs of pneumatic artificial muscle actuators. Due to the nonlinearity and the uncertainty on the dynamics of the actuator, it is difficult to make the effective control schemes of this system. By the adaptive control law which inclueds a nonlinear "feedforward" term compensating paramet- ric uncertainties in addition to P.I.D. scheme, both golbal stability of the system and convergence of the tracking error are guaranted. The effectiveness of the proposed control method for the manipulator using this actuator is illustrated through experiments.periments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.927-931
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• 2005

Carbon nanotube actuator, working under physical conditions (in aqueous solution) and converting electrical energy into mechanical energy directly, can be a good substitute for artificial muscle. The carbon nanotube actuator simulated in this paper is an isotropic cantilever type with an adhesive tape which is sandwiched between two single-walled carbon nanotubes. For predicting the static and dynamic characteristic parameters, the analytical model for a 3 layer bimorph carbon nanotube actuator is developed by using Euler-Bernoulli beam theory. The governing equation and boundary conditions are derived from energy principles. The induced displacements of the theoretical model are presented in order to investigate the performance of the carbon nanotube actuator with different control voltages. The developed model presents invaluable means for designing and predicting the performance of carbon nanotube actuator that can be used in artificial muscle applications.

• Journal of the Korean Society for Nondestructive Testing
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• v.27 no.6
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• pp.541-549
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• 2007

This work describes an investigation into the feasibility of using an acoustic emission (AE) technique to evaluate the integrity of a composite actuator with a PZT ceramic under electromechanical cyclic loading. AE characteristics have been analyzed in terms of the behavior of the AE count rate and signal waveform in association with the performance degradation of the composite actuator during the cyclic tests. The results showed that the fatigue cracking of the composite actuator with a PZT ceramic occurred only in the PZT ceramic layer, and that the performance degradation caused by the fatigue damage varied immensely depending on the existence of a protecting composite bottom layer. We confirmed the correlations between the fatigue damage mechanisms and AE signal types for the actuators that exhibited multiple modes of fatigue damage; transgranular micro damage, intergranular fatigue cracking, and breakdown by a short circuiting were related to a burst type signal showing a shortly rising and slowly decaying waveform with a comparably low voltage, a continuous type signal showing a gradual rising and slowly decaying waveform with a very high voltage and a burst and continuous type signal with a high voltage, respectively. Results from the present work showed that the evolution of fatigue damage in the composite actuator with a PZT ceramic can be nondestructively identified via in situ AE monitoring and microscopic observations.

• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.748-755
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• 2006

In this paper, a trade-off design and fabrication of IPMC(Ionic Polymer Metal Composites) as an actuator for a flapping device have been described. Experiments for the internal solvent loss of IPMCs have been conducted for various combinations of cation and solvent in order to find out the best combination of cation and solvent for minimal solvent loss and higher actuation force. From the experiments, it was found that IPMCs with heavy water as their solvent could operate longer. Relations between length/thickness and tip force of IPMCs were also quantitatively identified for the actuator design from the tip force measurement of 200, 400, 640, and $800{\mu}m$ thick IPMCs. All IPMCs thicker than $200{\mu}m$ were processed by casting $Nafion^{TM}$ solution. The shorter and thicker IPMCs tended to generate higher actuation force but lower actuation displacement. To improve surface conductivity and to minimize solvent evaporation due to electrically heated electrodes, gold was sputtered on both surfaces of the cast IPMCs by the Physical Vapor Deposition(PVD) process. For amplification of a short IPMC's small actuation displacement to a large flapping motion, a rack-and-pinion type hinge was used in the flapping device. An insect wing was attached to the IPMC flapping mechanism for its flapping test. In this test, the wing flapping device using the $800{\mu}m$ thick IPMC. could create around $10^{\circ}{\sim}85^{\circ}$ flapping angles and $0.5{\sim}15Hz$ flapping frequencies by applying $3{\sim|}4V$.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1006-1011
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• 2004

Carbon nanotubes have outstanding properties which make them useful for a number of high-technology applications. Especially, single-walled carbon nanotube (SWNT), working under physical conditions (in aqueous solution) and converting electrical energy into mechanical energy directly, can be a good substitute for artificial muscle. The carbon nanotube structure simulated in this paper is an isotropic cantilever type with an adhesive tape which is sandwiched between two SWNTs. For predicting the geometrical and physical parameters such as deflection, slope, bending moment and induced force with various applied voltages, the analytical model for a 3 layer bimorph nanotube actuator is developed by applying Euler-Bernoulli beam theory. The governing equation and boundary conditions are derived from energy Principles. Also, the brief history of carbon nonotube is overviewed and its properties are compared with other functional materials. Moreover, an electro-mechanical coupling coefficient of the carbon nanotube actuator is discussed to identify the electro-mechanical energy efficiency.

• Journal of the Korean Society for Nondestructive Testing
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• v.26 no.4
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• pp.220-230
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• 2006

Fracture behavior of a monolithic PZT and a plate-type piezoelectric composite actuator (PCA) has been investigated under a bending load at three points by an acoustic emission (AE) monitoring. AE signal from a monolithic PZT at the maximum bending load shows the characteristics of high amplitude and long duration with a low frequency band of $100{\sim}230kHz$ which is confirmed by fast Fourier transform (FFT). For a PCA, it is concluded that AE signals with high amplitude over 80dB and low dominant frequency band of $170{\sim}223kHz$ emitted in the stage I are due to the brittle fracture in the PZT layer and the delamination between the PZT layer and the adjacent fiber composite layer. Based on the above analysis of AE behavior and damage observations with an optical microscopy and a scanning electron microscopy, AE characteristics related to fracture behavior of asymmetrically laminated PCA have been elucidated.

• Composites Research
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• v.19 no.5
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• pp.7-11
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• 2006

The improved SWNTs/PANi composite actuator films applicable to an artificial muscle were fabricated successfully using a new process of manufacture that consists of 90% pure single-walled carbon nanotubes (SWNT) and chemical polymerization. PANi is electrically conducting polyaniline polymer. The conductivities of the composite SWNTs/PANi film-type actuators and the pure PANi films fabricated were measured as 56.15 S/cm and 17.38 S/cm, respectively, by the 4-prove method. The conductivity of the composite actuator is 3.2 times higher than the pure PANi film. The fabricated composite actuator showed higher conductivity than any other similar ones. The quality of samples was investigated by an electron scanning microscope (SEM). To measure the actuating strains, a specially designed beam balance apparatus was developed and strains of the composite actuators was measured by a laser displacement sensor subjected to electric currents. During the operation, the sample was soaked in the $NaNO_3$ solution and the sine-wave voltage in the range of $+1V{\sim}-1V$ was applied. The length of the composite actuator changed from $l_0=12.690$ mm to $l_1=12.733$ so that the change of length was l=0.043 mm and the strain was 0.34 %. This is a very high strain for this kind of a composite actuator. Other result reported by Tahhan showed 0.23 % strain, so that the present result is improved by 48%.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.723-726
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• 2005

The two major obstacles in the application of IPMC to flapping actuators operated in the air are solvent loss and actuation force. In this paper, solvent loss of various IPMCs made of Nafion$^{TM}$117(183$\mu$m thickness) has been experimentally investigated to find out the best combination of cation and solvent for minimal solvent loss in IPMCs and higher actuation force. For this purpose. experiments for the internal solvent loss measurement of IMPCs have been conducted for various combinations of cation and solvent. From the experiments, it was found that heavy water showed improvement in the operating time up to more than two minutes. in the tip force measurement of IPMCs, it was found that smaller and thicker IPMCs produced larger tip forces. However, the shorter IPMCs generated reduced actuation displacements and created flapping motion with decreased natural frequency. For the design of flapping device actuated by 5mm wide, 10mm long, 0.2mm thick IPMCs were used in the stacked form. Since the actuation force is a few gram-force, we stacked five IPMCs to improve actuation force. To amply the actuation force, rack-and-pin ion type hinge was used for the flapping device and insect (Cicadidae) wing was attached to the stacked IPMC actuator. In the flapping test, the device could generate flapping angle of 15$^{\circ}$ at 6Hz excitation by 2.5 voltage square wave input.