• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.716-722
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• 2001

In this paper, the modeling and control of electrostrictive polymer is introduced for endoscopic microcapsule. The endoscopic microcapsule works in the body, so the material of robot must be no harmful to the body. The electrostrictive polymer satisfies this condition. The modeling and control of endoscope microcapsule must be processed. So the modeling and control of electrostrictive was processed preferentially. The electrostrictive polymer is so flexible that we considered the electrostrictive polymer as flexible membrane. The dynamic equation of flexible membrane is time variant in electrostrictive polymer. It is the reason that the elastic modulus of electrostrictive polymer is very small and changes as deformation of electrostrictive polymer. The control algorithm must overcome these characteristics. So the algorithm of adaptive fuzzy control was used to control. In this paper, we introduced the dynamic modeling and control of electrostrictive polymer. And its deformation is introduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.46.5-46
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• 2001

Electrostrictive polymer is deformed by electric force generated by electric field built by high voltage. When high voltage is applied to the electrostrictive polymer film in which the electrodes such as conductive grease or carbon powder are installed, it expands in the direction of area. Because electrostrictive polymer is incompressible and electric force is applied to it in the direction of thickness. Electrostrictive polymer film in which electrodes are installed, functions as a parallel-plate capacitor. Therefore anode and cathode charges are piled up or both electrodes and there exists attractive force that functions as pressure in the direction of thickness. So the thickness of electrostrictive polymer becomes thicker ...

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.656-659
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• 2003

Although Hereafter a mass production will claim for patterning nano sized thickness or line in micro-nano industry. existent lithography fabrication has many usable fields, it has complex fabrication steps, expensive values and row work rates. Development of Dip-pen type nano plotter using polymer actuator can construct row cost mass production system because it will change existent lithography fabrication more simple and easy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.103.2-103
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• 2001

In this paper, we discusses compliant actuators those are made of electrostrictive polymer. Electrostrictive polymer actuators(EPAs) are based on the deformation of dielectric elastomer polymer in the presence of an electric field. We address actual design and fabrication method of an actuator using the electrostrictive polymer. We have developed primitive prototypes of the actuator using elastic restoring force. And they actuators have 1 to 3 DOF, 1 DOF actuators are simple linear actuators and 3 DOF actuator has linear actuation and steering capability. They are simple in structure with lightweight, high trust, force and large stroke. Basic design principles and experimental procedures for confirming their performance will be introduced.

• 폴리머
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• 제26권1호
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• pp.113-120
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• 2002

전기변형(electrostriction)이란 물체에 전압을 인가했을 때 맥스웰 응력이 나타나고, 이로 인하여 물체가 변형되는 현상을 말한다. 이러한 성질은 대부분의 유전체에서 나타나는데, 특히 탄성계수가 낮은 엘라스토머에 적용하면 전기에너지가 효율적으로 변환되어 큰 변형과 힘을 발현한다. 이렇게 전기변형을 크게 일으키는 고분자를 전기변형 고분자(electrostrictive polymer, EP)로 분류하며, 이들은 구동체 및 센서, 인공근육, 음향전달 장치 분야로의 활용이 유망한 재료로 예견되고 있다. 본 연구에서는 폴리우레탄과 아크릴 고무 등의 유전성 탄성체(dielectric elastomer)를 이용하여 전극-EP-전극의 적층을 이루는 유니모프 구동체를 제조하여 구동시켰고 주파수를 증가시키면서 작동시킬 때 구동체의 운동범위가 감소하는 현상을 전기적, 기계적으로 해석하고자 유전율과 탄성율을 주파수에 따라 측정하는 한편, 고전적 적층이론을 이용하여 EP의 구동역학을 모델링 하였다. 실험결과, 주파수 증가에 따른 구동체의 운동 변위 감소는 재료의 유전 완화시간과 밀접한 관계를 가졌음을 알 수 있었고, 고전적 적층이론으로 해석한 유니모프 구동체의 운동은 실제 적용한 우레탄 구동체의 운동과 상당히 유사한 거동을 보였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.755-758
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• 2000

Rapid prototyping is one of the most important technology for 21th century industry. To overcome the limitation of the material and function, Functional Prototype Development(FPD) concept is newly proposed. Wide function is necessary such as mechanical, optical, chemical and electrical property in order to solve broad requirements of the industry. The process of FPD has more than two conventional processes based on fusion technology and the FPD system is integrated with the interdisciplinary, interfacing and intelligent concepts. This paper shows some representative achievements such as optic coloring prototypes, electric multi layer printed circuit broad(MLB) and MEMS using electrostrictive polymer. Finally, we confirmed that FPD has a great possibility which can be applied in broad industry and will be a powerful tool in near future.

• 한국정밀공학회지
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• 제19권4호
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• pp.161-167
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• 2002

For the purpose of applying to micro-actuator, thermal properties and displacement of electrostrictive polyurethane(PU) elastomers have been measured. In order to understand an effect of PU component, crosslinking agent are controlled by 0.5 wt% and 1 wt%. DMPA and anther chain extenders were used. PU sample that chain extenders are DMPA is added NaOH for comprehension of effect of ionic groups. The deposited electrode sire on PU films is equal to acrylic holder size when the displacement was measured. Dynamic response according to frequency, displacement and recovery time according to PU thickness were measured. 1 wt% crosslinking agent contents PU samples have higher displacement and lower recovery time than 0.5 wt% crosslinking agent contents PU. If the PU thickness is increased, the actuating voltage for generating of same displacement is increased, too.

• 한국진공학회지
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• 제20권4호
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• pp.276-279
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• 2011

약밀려남/잡아당김/급냉각의 연속적인 압출 공정을 이용하여 대면적 불화 고분자 막을 제작하였다. 제안한 방법으로 형성된 불화 고분자 박막은 $C_i=2.9\;nF/cm^2$의 전기용량밀도가 측정되었고, 1kHz에서의 ${\varepsilon}_r$=56의 높은 유전상수를 나타내었다. $1.5406{\AA}$의 파장에서 Bruker AXS X-ray 회절분석기를 통해 $18.0^{\circ}$에서 최고점을 나타내어 전기변형 성능에 적합한 ${\beta}$ 상태를 확인하였다. 본 연구는 넓은 면적의 인공근육에 응용 가능한 전기변형 불화고분자막의 새로운 박막 형성 기술로 이용될 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.307-310
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• 1997

In case of environment requiring safety such as human body and requiring flexible shape, a conventional mechanical actuator system does not satisfy requirement. Therefore, in order to solve this problem, a research of various smart material such as EAP (Electro Active Polymer), EAC (Electro Active Ceramic) and SMA (Shape Memory Alloy) is in progress. Recently, the highest preferring material among various smart material is EP (Electrostictive Polymer), because it has very fast response time, poerful force and large displacement. The previous researches have been studied properties of polymer and simple control, but present researches are studied a polymer actuator. An EP (Electostrictive Polymer) actuator has properties which change variably as shape and environmental condition. Therefore, in order to coincide with a user's purpose, it is important not only to decide a shape of actuator and mechanical design but also to investigate a efficient controller. In this paper, we constructed the control logic with an adaptive fuvy algorithm which depends on the physical properties of EP that has a dielectric constant depending on time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.120.4-120
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• 2002

$\textbullet$ In order to operate EP actuator, high voltage is applied to that. $\textbullet$ Our previous control algorithm for an EP actuator was PI method with constant gain. $\textbullet$ But this Control method is limitation such as rising time, steady-state error, and settling time. $\textbullet$ A neural network algorithm is proposed for improvement of performance. $\textbullet$ To do this, neural network algorithm changes the gain of PI control. $\textbullet$ In order to efficient drive EP actuator, the gain is changed at some point. $\textbullet$ Neural network method improve the performance of operation.