• 한국정밀공학회지
• /
• 제18권10호
• /
• pp.194-199
• /
• 2001

In this paper, we propose a new locomotive mechanism using impulsive force for microcapsule-type endoscope. It has the compact size for movement in the colon and actuating mechanisms for hi-directional movement. The actuating mechanism resembles a pneumatic cylinder and consists of body, inertia mass(piston). spring. pneumatic source and calve. When valve is ON, the pneumatic impulsive force between piston and body drives them in two opposite direction. As the air in the body is passed away, the contrary movements are occurred by spring reaction. Therefore, the direction of body's motion is determined by the relative magnitude of two opposite impulsive forces, i.e., pneumatic and spring force. The effect of two impulsive forces can simply be controlled by On-Off time of solenoid valve.

• Journal of Mechanical Science and Technology
• /
• 제17권9호
• /
• pp.1268-1275
• /
• 2003

In this paper, a compact 3-DOF mobile microrobot with sub-micron resolution is presented. It has many outstanding features : it is as small as a coin ; its precision is of sub-micrometer resolution on the plane ; it has an unlimited travel range ; and it has simple and compact mechanisms and structures which can be realized at low cost. With the impact actuating mechanism, this system enable both fast coarse motion and highly precise fine motion with a pulse wave input voltage controlled. The 1 -DOF impact actuating mechanism is modeled by taking into consideration the friction between the piezoelectric actuator and base. This modeling technique is extended to simulate the motion of the 3-DOF mobile robot. In addition, experiments are conducted to verify that the simulations accurately represent the real system. The modeling and simulation results will be used to design the model-based controller for the target system. The developed system can be used as a robotic positioning device in the micromanipulation system that determines the position of micro-sized components or particles in a small space, or assemble them in the meso-scale structure.

• 항공우주시스템공학회지
• /
• 제14권2호
• /
• pp.28-35
• /
• 2020

In this paper, we present a design for a retraction-type actuator (ReACT) that has the characteristics of both thermomechanical metamaterials and displacement amplification mechanisms. The ReACT consists of an actuating bar, a diamond-shaped displacement amplification (DA) structure, and a slot for loading thin-film heaters formed through the actuating bar. When power is supplied to the thin film heater, the actuating bars contacting the heater thermally expand, and the diamond-shaped DA structures retract in the longitudinal direction. The performance characteristics of the ReACT, such as temperature distribution and retracting displacement, were calculated with thermomechanical analysis methods using the finite element method (FEM). Subsequently, the ReACTs were fabricated using a polymer-based 3D printer that can easily execute complex structures, and the performance of the ReACT was evaluated through repeated tests under various temperature conditions. The results of the performance evaluation were compared with the results of the FEM analysis.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2013년도 춘계학술대회 논문집
• /
• pp.319-320
• /
• 2013

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 춘계학술대회 논문집
• /
• pp.665-666
• /
• 2006

In precision laser microfabrication, focusing is essential to acquire good machining precision and uniform machining quality. If it does not perform, laser machining cannot be realized. So, confocal scanning method with high depth resolution is used for focus detection technique. This paper is concerned with a procedure for design, analysis and performance test of an autofocus fine actuating stage, which is composed of flexure-hinge type lever mechanism and piezoelectric actuator. Through series of analytical design, the stage is simplified as a rigid bodies(lever and main body) and springs(flexure hinges). The simplified model was applied to determine the dimension of flexure hinges and lever. After structural analysis confirmed design requirement, an actual stage was made and verified through an experiment on the static and dynamic characteristics(maximum stroke and 1st natural frequency). The fabricated stage was satisfied with the design requirement.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2000년도 추계학술대회논문집
• /
• pp.754-758
• /
• 2000

In recent years, the LDM(Linear DC Motor) is widely used, because it has more merits than other rotary motors. First, if system requires linear motion, LDM realizes direct linear motion as rotary motor does not. Second, system is simple and easy to control, and so on. In optical disc drive, a tracking system consists of two parts. One is fine actuating and the other is coarse actuating. For coarse actuating VCM(Voice Coil Motor) actuator is used as a basic drive mechanism. In this paper, MC(Moving Coil) type LDM is designed, manufactured and controlled. System is composed of mechanical-electromagnetic component, therefore mechanical loss and electromagnetic loss exist. The dominent mechanical loss is friction which results from sliding between guide shaft and hole. Therefore, this paper shows the friction compensation control. High speed and accurate position is not gained only PID control, therefore other control method is applied to the system.

• 한국레이저가공학회:학술대회논문집
• /
• 한국레이저가공학회 2006년도 춘계학술발표대회 논문집
• /
• pp.135-143
• /
• 2006

• 대한기계학회논문집 C: 기술과 교육
• /
• 제1권2호
• /
• pp.153-165
• /
• 2013

기존의 보행분석 연구들은 하지를 하나의 스프링으로 간주하였다. 만약 슬관절 신전을 보조할 수 있는 슬관절 액추에이팅 메커니즘을 개발할 수 있다면 보행에 필요한 탄성-변형률에너지를 혁신적으로 저장-방출할 수 있고, 그 결과 보행 중 하지강성은 더욱 증가할 것이다. 게다가 족관절 액추에이팅 메커니즘까지 추가되어 있다면 슬관절 액추에이터에 의한 과도한 인공하지강성을 능동적이고 적절한 수준으로 보상해주는 기전으로 작동할 것이다. 만약 가속도에 의한 보행속도 증가를 방지하기 위해 인위적 감속통제를 작동시킨다면 불필요한 운동에너지의 방출이 발생되고 하지강성 액추에이터의 실효성은 의심을 받게 된다. 따라서 본 저자는 보행속도를 2개의 세그먼트에 의한 상대 각속도 조절기법을 이용하여 하지강성을 증가시킨다는 기본개념으로 슬-족관절 액추에이터 시스템을 개발하였다. 또한 족관절에 슬관절 액추에이팅에 대한 보상기전이 존재하는 경우, 족관절의 보상기전이 중족지절관절 경사각 및 보행속도 변화에 미치는 상호영향을 연구하였다.

• Journal of Mechanical Science and Technology
• /
• 제15권6호
• /
• pp.693-698
• /
• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 추계학술대회논문집
• /
• pp.739-739
• /
• 2005

In the conventional AF lens actuating system the VCM actuator is used. However due to the actuating mechanism, the VCM actuator has disadvantage in miniaturizing which is essential to the actuator for the mobile device. Therefore novel type actuator is required and the one of the candidate is actuator using electoractive polymer (EAP). The EAP actuator is one of the attractive smart materials that is light and can be easily fabricated with low cost. This paper proposes an AF lens actuator for mobile phone using dielectric elastomer. The proposed actuator was designed and analyzed using finite element method. The designed actuator is verified by experiment and the position control algorithm is applied.