• 한국정밀공학회지
• /
• 제30권1호
• /
• pp.39-46
• /
• 2013

Smart material such as SMA (Shape Memory Alloy) has been studied in various ways because it can perform continuous, flexible, and complex actuation in simple structure. Smart soft composite (SSC) was developed to achieve large deformation of smart material. In this paper, a shell actuator using woven type SSC was developed to enhance stiffness of the structure while keeping its deformation capacity. The fabricated actuator consisted of a flexible polymer and woven structure which contains SMA wires and glass fibers. The actuator showed various actuation motions by controlling a pattern of applied electricity because the SMA wires are embedded in the structure as fibers. To verify the actuation ability, we measured its maximum end-edge bending angle, twisting angle, and actuating force, which were $103^{\circ}$, $10^{\circ}$, and 0.15 N, respectively.

• Composites Research
• /
• 제28권2호
• /
• pp.52-57
• /
• 2015

Soft morphing robotics making use of smart material and based on biomimetic principles are capable of continuous locomotion in harmony with its environment. Since these robots do not use traditional mechanical components, they can be built to be light weight and capable of a diverse range of locomotion. This paper illustrates a flexible smart phone robot made of smart soft composite (SSC) with inchworm-like locomotion capable of two-way linear motion. Since rigid components are embedded within the robot, bending actuators with embedded rigid segments were investigated in order to obtain the maximum bending curvature. To verify the results, a simple mechanical model of this actuator was built and compared with experimental data. After that, the flexible robot was implemented as part of a smart phone robot where the rigid components of the phone were embedded within the matrix. Then, experiments were conducted to test the smart phone robot actuation force under different deflections to verify its load carrying capability. After that, the communication between the smart phone and robot controller was implemented and a corresponding phone application was developed. The locomotion of the smart phone robot actuated through an independent controller was also tested.

• 대한기계학회논문집A
• /
• 제41권2호
• /
• pp.81-85
• /
• 2017

섬유강화 고분자 복합재료는 섬유 형태의 강화제와 고분자 형태의 기지재료가 결합된 형태로 이는 무게 대비 고강도 및 고강성의 구조물 제작에 용이하다. 본 연구에서는 형상기억합금 와이어가 삽입된 섬유 강화 지능형 연성 복합재 구동기를 제작, 이의 재료 구성에 따른 거동 특성을 평가 하고자 한다. 구동기는 형상기억합금이 포함된 구동층과 일반 구조층으로 구성되어 한 층씩 적층되는 방식으로 제작되며 재료 구성에 따른 거동 특성을 살펴보기 위하여 일반 구조층으로 사용된 유리섬유 직물의 적층 수, 기지재료의 종류를 달리한 뒤 구동 특성을 살펴보았다. 또한, 구동 시에 요구되는 인가 전류의 양을 달리하여 최대 구동각과 최대 구동각에 도달하는 구동 시간을 측정하였다.

• 한국정밀공학회지
• /
• 제33권1호
• /
• pp.77-83
• /
• 2016

Intricate deflection requires many conventional actuators (motors, pistons etc.), which can be financially and spatially wasteful. Novel smart soft composite (SSC) actuators have been suggested, but fabrication complexity restricts their widespread use as general-purpose actuators. In this study, a hybrid manufacturing process comprising 3-D printing and casting was developed for automated fabrication of SSC actuators with $200{\mu}m$ precision, using a 3-D printer (3DISON, ROKIT), a simple polymer mixer, and a compressor controller. A method to improve precision is suggested, and the design compensates for deposition and backlash errors (maximum, $170{\mu}m$). A suitable flow rate and tool path are suggested for the polymer casting process. The equipment and process costs proposed here are lower than those of existing 3D printers for a multi-material deposition system and the technique has $200{\mu}m$ precision, which is suitable for fabrication of SSC actuators.

• Composites Research
• /
• 제37권4호
• /
• pp.247-264
• /
• 2024

최근 전기 활성 고분자 (EAP) 액추에이터는 그들의 유연성, 경량성, 그리고 단순한 제작 과정 덕분에 소프트 로봇, 생체 모방 기술, 웨어러블 장치, 햅틱 기술 등 다양한 분야에서 높은 활용도를 보여주고 있다. 뿐만 아니라, 전기 활성 고분자 액추에이터들은 기능성 재료 및 혁신적 기술과의 결합을 통해 새로운 기능과 특성을 가진 스마트 기기로 발전하고 있다. 본 논문에서는 전기 활성 고분자를 이온성 전기 활성 고분자와 전기적 활성 고분자로 분류하였다. 이온성 전기 활성 고분자에는 대표적으로 이온성 금속-고분자 복합재 (IPMCs), 전도성 고분자 (CPs) 액추에이터가 소개되며, 전기적 활성 고분자에는 유전성 탄성체 액추에이터 (DEAs), 강유전 고분자 액추에이터, 그리고 최근 발표된 유압증폭 자가치유 정전 (HASEL) 액추에이터가 소개된다. 각각의 액추에이터에 대한 메커니즘, 구조, 성능 개선 방안 및 기능성 추가 방법 및 응용 분야에 대한 내용을 최신 연구를 바탕으로 상세히 설명하였다.