• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.540-543
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• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• Journal of Communications and Networks
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• v.17 no.5
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• pp.473-481
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• 2015

In this study, we propose a clustering algorithm to enhance the performance of wireless sensor and actuator networks (WSANs). In each cluster, a multi-level hierarchical structure can be applied to reduce energy consumption. In addition to the cluster head, some nodes can be selected as intermediate nodes (INs). Each IN manages a subcluster that includes its neighbors. INs aggregate data from members in its subcluster, then send them to the cluster head. The selection of intermediate nodes aiming to optimize energy consumption can be considered high computational complexity mixed-integer linear programming. Therefore, a heuristic lowest energy path searching algorithm is proposed to reduce computational time. Moreover, a channel assignment scheme for subclusters is proposed to minimize interference between neighboring subclusters, thereby increasing aggregated throughput. Simulation results confirm that the proposed scheme can prolong network lifetime in WSANs.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.12
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• pp.1310-1316
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• 2008

Bi-layer and tri-layer structures of electro-active paper(EAPap) using conductive polyaniline(PANI) coating were investigated to improve bending displacement of cellulose EAPap. Two different counter ions, perchlorate($CIO_4^-$) and tetrafluoroborate($BF_4^-$), are used as dopant ions in the PANI processing. The actuation performances of hi-layer and tri-layer structure are evaluated in terms of tip displacement, blocked force, strain energy density and power output density. The actuation performance of the tri-layer actuator was better than the hi-layer structure, and the maximum displacement and blocked force of tri-layer $CIO_4^-$ doped-PANI-EAPap were 13.2 mm and 0.15 mN, respectively. Also the power output of the actuator is similar to the required power of biological muscle application.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2005.04a
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• pp.226-230
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• 2005

This paper presents the actuation performance of a conducting shape memory polyurethane (CSMPU) actuator. We introduced a concept of shape memory polyurethane activated by electric power while conventional shape memory polyurethanes are activated by external heat source. A conducting shape memory polyurethane actuator was manufactured by adding cabon nano-tube to conventional shape memory polyurethane. The main problem of the previous CSMPU was bad dispersion of carbon nano-tubes in polyurethane. In this paper, we have tried to find manufacturing method to solve the dispersion problem. With a lot of elaborative works, we have developed conducting shape memory polyurethane actuator with good electrical performance. The actuation performance of the developed conducting shape memory polyurethane actuator was measured and assessed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.615-618
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• 2005

All over the world, many kinds of micro-actuators were already developed for various applications. The actuators are using various principles such as electromagnetic, piezoelectric and thermopneumatic etc. The most of the micro-actuators have been made using 2D based MEMS technology. In these actuators, it is difficult to drive 3-dimensional motion. This characteristic gives the limit of actuator application. However, micro-stereolithography technology has made it possible to fabricate freeform three-dimensional microstructures. In this technology, 2-dimensional micro-shape layer is cumulated on the other layers. This layer-by-layer process is the main principle to fabricate 3-dimensioal micro-structures. In this research, a micro-bellows actuator that is vertically moving was developed using the micro-stereolithography technology. When pressure was applied into the bellows, a non-contact actuating motion is generated. For actuation experiment, syringe pump and laser interferometer were used for applying pressure and measuring the displacement. Several hundreds micro-scale actuation was observed. And, to demonstrate the feasibility of proposed actuation principle, in this research, a micro-gripper was developed using half-bellows structure.

• Transactions on Electrical and Electronic Materials
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• v.15 no.4
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• pp.226-229
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• 2014

In this study, lead-free $(Ba_{0.85}Ca_{0.15})(Ti_{1-x}Zr_x)O_3$ ceramics and a bimorph-type piezoelectric actuator were fabricated using the normal oxide-mixed sintering method, and their dielectric properties, microstructure, and displacement properties were investigated. From the results of X-ray diffraction, the pattern of the specimen has a pure perovskite structure. In addition, no secondary impurity phases were found. The excellent piezoelectric coefficient of $d_{33}=454pC/N$, the electromechanical coupling factor $k_p=0.51$, the dielectric constant ${\varepsilon}_r=3,657$, the mechanical quality factor $Q_m=239$, and $T_c$(Tetragonal-Cubic) =$90^{\circ}C$ were shown at x= 0.085. ${\Delta}k_p/k_p20^{\circ}C$ and ${\Delta}f_r/f_r20^{\circ}C$ showed the maximum value of -0.255 and 0.111 at $-20^{\circ}C$ and $80^{\circ}C$, respectively. The maximum total-displacement was $60{\mu}m$ under the input voltage of 50 V. As a result, it is considered that lead-free $(Ba_{0.85}Ca_{0.15})(Ti_{1-x}Zr_x)O_3$ ceramics is a promising candidate for piezoelectric actuator application for x= 0.085.

• Journal of KSNVE
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• v.5 no.3
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• pp.313-325
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• 1995

Two active/passive vibration dampers were designed to control a cantilever beam first mode of vibration. The active element was a piezoelectric polymer, polyvinlidene fluoride (PVDF). The passive damping was provided by the application of a viscoelastic layer on the surface of the steel beam. Two substantially different damper configurations were designed and tested. One damper consisted of a piezoelectric actuator bonded to one face of the beam, with a viscoelastic layer applied to the other surface of the beam. The second one was composed of a layer viscoeastic layer with one surface bonded to the beam, and with other being constrained by nine piezoelectric actuators connected in parallel. A control law based on the sign of the angular velocity of the cantilever beam was implemented to control the beam first mode of vibration. The piezoelectric sensor output was digitally differentiated to obtain the transverse linear velocity, and its sign was used in the control algorith. Two dampers provided the system a damping increase of a factor of four for the first damper and three for the second damper. Both dampers were found to work well at low levels of vibration, suggesting that they can be used effectively to prevent resonant vibrations in flexible structure from initiating and building up.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.5
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• pp.598-603
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• 2004

An optical head actuator of an optical disk drive consists of two servo mechanisms for the focusing and the tracking to acquire data from disk. As the rotational speed of the disk grows, the utilized lag-lead-lead compensator has known to be above its ability for precisely controlling the optical head actuator. To overcome the difficulty, this paper propose a new controller design method for optical head actuator based fuzzy proportional-integral-derivative (PID) control and the genetic algorithm(GA). It employs a two-stage control structure with a fuzzy PI and a fuzzy PD control and is optimized by the GA to yield the suboptimal fuzzy PID control performance. It is shown the feasibility of the proposed method through a numerical tracking actuator simulation.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.3
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• pp.157-163
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• 2016

Green vehicles include electric vehicles, natural gas vehicles, fuel cell vehicles (FCV), and vehicles running on fuel such as a biodiesel or an ethanol blend. An FCV is equipped with a cylinder valve installed in an ultra-high pressure vessel to control the hydrogen flow. For this purpose, an optimum design of the solenoid actuator is necessary to ensure reliability when driving an FCV. In this study, an electromagnetic field analysis for ensuring reliable operation of the solenoid actuator was conducted by using Maxwell V15. The electromagnetic field analysis was performed by magnetostatic technique, according to the distance between magnetic poles in order to predict the attraction force. Finally, the attraction force was validated through comparison between the Maxwell results and measurement results. From the results, the error of attraction force ranged from 4.53 % to 9.05 % at testing conditions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1596-1600
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• 2000

We propose a novel adaptive feed forward controller (AFC) design method for rejecting the effect of micro actuator resonance in the design of dual-stage actuator servo systems for disk drives. Microactuator's resonance is one of important issues in dual-stage actuator servo, which varies up to ${\pm}10%$ per product and even during operation. We derive an adaptive algorithm for the proposed AFC design, which turns out to be identical to the delayed-x LMS algorithm which is a special form of the filtered-x LMS algorithm. In the algorithm, coefficients of the AFC are adapted by the residuals of constrained structure defined in such a way that the coefficients become time invariant. Contrary to the conventional AFC, it considers the phase delay of closed-loop transfer function at resonance frequency for system stability. We also apply an adaptive algorithm with frequency tracking capability. The frequency tracking algorithm is induced by the orthogonality of AFC coefficients. Computer simulations are carried out to demonstrate effect of the proposed AFCs.