• Proceedings of the KSME Conference
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• 2001.06b
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• pp.295-300
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• 2001

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. For that reason, the colonoscopy is generalized. But it requires much time to acquire a dexterous skill to perform an operation. And the procedure is painful to the patient. Therefore, biomedical and robotic researchers are developing a locomotive colonoscope that can travel safely in colon. In this paper, we propose a novel design and concept of semi-autonomous colonoscope and two actuators for the micro robot. The micro robot comprises camera and LED for diagnosis, steering system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to keep the space between colon wall and the actuator. For actuating mechanism, we suggest two models. One is based on the reaction force, and the other is impact force. In order to validate the concept and the performance of the actuators, we carried out the preliminary experiments in rigid pipes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.246-250
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• 2003

In this study, two new types of micro-grippers in which micro-fingers are actuated by piezoelectric multi-layer benders and stacks are introduced for the manipulation of micrometer-sized objects. First, we constructed a 3-chopstick-mechanism tungsten gripper, which is composed of three chopsticks: two are designed to grip micro-objects, and tile third is used to help grasp and release the objects through overcoming especially electrostatic force among some surface effects including electrostatic, van der Waals forces and surface tension. Second, a 2-chopstick-mechanism silicon micro-gripper that uses an integrated force sensor to control the gripping force was developed. The micro-gripper is composed of a piezoelectric multilayer bender for actuating the gripper fingers, silicon fingertips fabricated by use of silicon-based micromachining, and supplementary supports. The micro-gripper is referred to as a hybrid-type micro-gripper because it is composed of two main components; micro-fingertips fabricated using micromachining technology to integrate a very sensitive force sensor for measuring the gripping force, and piezoelectric gripper finger actuators that are capable of large gripping forces and moving strokes. The gripping force signal was found to have a sensitivity of 667 N/V. To the design of each of components of both of the grippers. a systematic design approach was applied, which made it possible to establish the functional requirements and design parameters of the micro-grippers. The micro-grippers were installed on a manual manipulator to assess its performance in tasks such as moving micro-objects from one position to a desired position. The experiment showed that the micro-grippers function effectively.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.05a
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• pp.379-382
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• 2007

The MEMS (Micro Electro Mechanical Systems) process is used in a micro/nano pattern manufacturing method. This method is based on the lithography technology. But the MEMS process has some problems such as complicated process, long processing time and high production costs. Many researchers are doing research in substitute manufacturing method to work out a solution to these problems. In this paper, we apply a dieless incremental forming technology to a substitute method of MEMS process. This dieless forming technology is using in the commercial scale sheet forming such as a prototype of automobile sheet parts. 5-axes CNC (Computerized Numeric Control) method are applied in this system to get a micro-scale dieless forming results. These 5-axes system are composed of precision AC servo motor stages (4-axes) and PZT actuator (1-axis). A PZT actuator is used in a precision actuating axis because it can be operated in the nano scale stroke resolution. This micro dieless incremental forming system has the advantage of minimization in manipulating distance and working space. As equipment and tools become smaller in size, minute inertia force and high natural frequency can be obtained. Therefore, high precision forming performance can be obtained. This allows the factory to quickly provide the customer with goods because the manufacturing system and process are reduced. To construct this micro manufacturing system, many technologies are necessary such as high stiffness frame, high precision actuating part, structural analysis, high precision tools and system control. To achieve the optimal forming quality, the micro dieless forming system is designed and made with high stiffness characteristic.

• Journal of Biomedical Engineering Research
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• v.26 no.5
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• pp.257-264
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• 2005

This paper proposes an ionic polymer metal composite (IPMC) based artificial muscle to be applicable to the Myoelectric hand prosthesis. The IPMC consists of a thin polymer membrane with metal electrodes plated chemically on both faces, and it is widely applying to the artificial muscle because it is driven by relatively low input voltage. The control commands for the IPMC-based artificial muscle is given by electromyographic (EMG) signals obtained from human forearm. By an intended contraction of the human flexor carpi ulnaris and extensor carpi ulnaris muscles, we investigated the actuation behavior of the IPMC-based artificial muscle. To obtain higher actuation force of the IPMC, the single layered as thick as $800[{\mu}m]$ or multi-layered IPMC of which each layer can be as thick as $178[{\mu}m]$ are prepared. As a result, the bending force was up to the maximum 12[gf] from 1[gf] by actuating the single layered IPMC with $178[{\mu}m]$, but the bending displacement was reduced to 6[mm] from 30[mm]. The experimental results using an implemented IPMC control system show a possibility and a usability of the bio-mimetic artificial muscle.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1303-1309
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• 2003

This paper presents the static and dynamic measurements for the strength and motion characteristics as well as the improved procedures to assess strength of wheel loaders. Two scenarios for static measurement were decided by which cylinder was actuating. The dynamic measurement was performed for two types of motion, that is, simple reciprocation of the working devices and actual working motion including traveling, digging and dumping. The measured items were stresses, cylinder pressures and strokes. Stress induced by bucket working showed higher level than that by boom working. The measured cylinder speeds were relatively superior to the design speeds. Working stress histories were thought to be closer to static rather than dynamic. A fully assembled FE model was prepared for structural analysis. In this paper, a more simple method was suggested to avoid nonlinearity caused by heave of rear frame under digging forces. Also how brake affected on structural behavior and digging force was examined closely in relation with tire pressure. It was confirmed that the overall stress level of wheel loader during turning traveling with loaded bucket was far lower than the yield stress of material.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.64-72
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• 2003

This paper presents a small loading and positioning device using VCM (voice coil motor). The developed device consists of a VCM-based linear actuating system, a capacitance displacement sensor and a cantilever deflection sensing system. The trust force of the VCM proportional to applied current moves the column supported on two pairs of parallel leaf springs. The infinitesimal displacement of moved column is detected by capacitance displacement sensor with a resolution of 0.1nm and a repeatability of 1nm. Also, a micro cantilever with known stiffness (200N/m), which is mounted on the end of the column, is used as a force sensor to detect the load applied to a specimen. After the cantilever contacts with the specimen, the deflection of cantilever and the load applied to the specimen are measured by using an optical lever system which consists of a diode laser, a mirror and a PSD (position sensitive detector). In this paper, an experimental system was constructed and its actuator and sensing parts were tested and calibrated. Also, the constructed system was applied to the indentation experiment and the load-displacement curve of aluminum was obtained. Experimental results showed that the developed device can be applied for performing nano indentation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.10
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• pp.1031-1038
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• 2007

A study on the development of control loading system for a pilot command in the helicopter flight training device is performed. The key issue of the device is how to provide closely the real feeling of the stick forces to the trainer during the flight training. Focusing on this proviso and considering the suitable approach than the complexity of the hydraulic system, we adopt the AC servo motor system although its inherent disadvantages such as the torque ripple and the stick-slip friction effect at a low control force. However, we overcome these detrimental effects by introducing the appropriate control device and the robust structural design of the actuating system, thereby the feasibility and applicability to the system can be obtained by showing good performance, meeting the required specification.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1275-1280
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• 2004

This paper presents the construction of an active suspension system of a one-wheel car model by using fuzzy reasoning. The car model is approximately described by a nonlinear two degrees freedom system subject to excitation from a road profile, and the active control force is constructed by actuating a pneumatic actuator, and the degradation of the performance due to the delay of the pneumatic actuator is improved by inserting a compensator. The fuzzy control is obtained by single input rule modules fuzzy reasoning, and the excitation from the road profile is estimated by using a disturbance observer. The experimental result shows that the proposed active suspension system much improves the performance in the vibration suppression of the car model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.63-68
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• 2007

This paper presents vibration control performance of an active hybrid mount featuring piezostack actuators. The proposed hybrid mount is devised by adopting piezostack as an active actuator and rubber as a passive element. After experimentally identifying actuating force characteristics of the piezostack and dynamic characteristics of the rubber, the hybrid mount was designed and manufactured. Subsequently, a vibration control system with a specific mass loading is constructed, and its governing equations of motion are derived. In order to actively attenuate vibration transmitted from the base, a feedforward controller is formulated and experimentally realized. Vibration control responses are then evaluated in time and frequency domains.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.73-76
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• 2007

Electro-Active paper (EAPap) is a new smart material that has a potential to be used in biomimetic actuator and sensor. It is made by cellulose that is abundant material in nature. EAPap is fascinating with its biodegradability, lightweight, large displacement, high mechanical strength and low actuation voltage. Actuating mechanism of EAPap is known to be the combined effects of ion migration and piezoelectricity. However, the electromechanical actuation mechanisms are not yet to be established. This paper presents the modeling of the actuation behavior of water infused cellulose samples and their composite dielectric constants calculated by Maxwell-Wagner theory. Electro-mechanical forces were calculated using Maxwell stress tensor method. Bending deflection was evaluated from simple beam model and compared with experimental observation, which result good correlation with each other.