• 한국전기전자재료학회논문지
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• 제32권1호
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• pp.30-34
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• 2019

A newly proposed T-shape piezoelectric actuator, composed of piezoelectric benders, was designed and studied. This actuator has four legs, and can walk in both forward and backward directions. The piezoelectric actuator has a simple structure and can be easily fabricated. It consists of a piezoelectric bender and a joint. The piezoelectric bender is composed of carbon and ceramic materials. Therefore, there is an advantage in that it can be fabricated on a very small scale. Elliptical displacements of the piezoelectric actuators were analyzed by finite element analysis. Elliptical motion at the tip occurred at two voltages having a 90-degree phase difference. Based on the finite element analysis results, prototype actuators with maximum displacements were fabricated, and the characteristics of their movements were characterized.

• 한국세라믹학회지
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• 제40권3호
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• pp.225-228
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• 2003

A Bender typed Multilayer Actuator(BMA) for decreasing the depolarization effect was designed and fabricated. Unlike bimorph and multimorph actuators in which depolarization occurred, the BMA did not generate depolarization because the polarization and the electric field directions are the same. The simulated results indicate that higher displacement of the BMA can be achieved by increasing input voltage. Compared with the multimorph actuator, the proposed actuator is expected to extend a life time as well as acceptable voltage range.

• 한국산학기술학회논문지
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• 제21권5호
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• pp.337-343
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• 2020

지난 수십 년간, 소형 로봇 가운데 동물과 곤충을 모방한 생체모방 로봇은 인간이 신체적으로 접근할 수 없는 영역에서 특별한 임무를 위해 개발되어 왔다. 최근 들어, 사람의 접근이 제한되는 공간(예 : 고농축 방사능 보관지역, 바이러스 지역, 대테러 위험지역 등)이 늘어나면서 로봇의 활용범위가 더욱 다양해지고 있으며, 과거에는 사람만 가능했던 많은 행위들이 소형 로봇으로의 대체가 시도 되고 있다. 그 중에서도 보행 로봇의 최적 움직임은 이동하는 표면의 특성(예: 거칠기, 곡률, 경사, 재료 등)에 의해 결정될 수 있다. 본 연구에서는 소형 보행 로봇에 적용하기 위한 구조가 간단하고 효율적으로 구동 가능한 압전세라믹 벤더 엑츄에이터를 제안하였다. 유한요소 해석법을 활용한 동적 모델링을 통해 구동원의 형상을 최적화하여 로봇의 이동 성능을 극대화 하였고, 제작과 실험을 통하여 그 결과를 검증하였다. 제작된 엑츄에이터는 무부하 조건에서 최대속도 236mm/s로 이동 하였고, 5g의 부하를 적재하고 156mm/s의 속도로 이동 가능함을 확인 하였다. 제안된 다족형 액추에이터는 수행해야 할 임무와 요구 성능에 따라 모듈식으로 추가가 가능한 장점이 있다.

• 한국전기전자재료학회논문지
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• 제33권4호
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• pp.276-280
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• 2020

A linear piezoelectric actuator that utilizes the elliptical motion of the two tips of the actuator is proposed. This device is easy to fabricate owing to its simple structure, consisting of three piezo ceramic benders and is suitable for use in micro robotic applications. A π-shaped structure, which was composed of four piezo ceramic benders, was constructed. Two of the benders were positioned on the center of the actuator, and the joints were attached at the ends of the cantilever. The other two benders were positioned on the side of the actuator and were attached between the joint and the tips. The actuator structure was designed to obtain the first bending mode of the horizontal vibration and the vertical vibration at the same frequency, resulting in elliptical motions at the tips. When two sinusoidal wave voltages with a 90-degree phase difference were applied to the two pairs of the actuator benders, elliptical motions were obtained at the tips. The driving characteristics of the prototype actuator were then measured using a laser doppler vibrometer.