• International Journal of Automotive Technology
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• v.7 no.3
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• pp.321-327
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• 2006

The previous paper described the logic tuning, the vehicle manufacture and the evaluation in the HILS system for the purpose of the development of a Steer-By-Wire(SBW) system. This paper describes the content of applying to a new HILS system, the vehicle manufacture and the result of the evaluation performed in Independent-type SBW(I-SBW) system. Here, the SBW indicates the method of steering both tires by using one motor as the steering gear actuator, similar to the conventional steering system. On the other hand, the I-SBW means the method of steering both front tires independently by using dual motors as the steering gear actuator. As a result, the layout and the kinematical mechanism of the I-SBW system are quite different from those of the typical steering mechanism. Nevertheless, there is no change in the steering column motor system. In the report, we first describe the structure and control logic of the I-SBW system, and then the control effect on this system as applied for both the HILS system and a vehicle. Furthermore, our HILS system involves the actuator mechanism which realizes the reaction force of the road surface with a minimized frictional force in operation. Therefore, it is possible for us to tune the control logic via the HILS system and confirm the effect of the tuned control logic by applying it to a vehicle with the I-SBW system.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.5
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• pp.73-82
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• 2004

This paper presents the study on damage diagnosis of an intelligent cantilevered beams using PZT actuator and PVDF sensor This study provides the theoretical and experimental verification to examine structural damage. Time domain analysis for the non-destructive detection of damage is presented by parameterized partial differential equations and Galerkin approximation techniques. The time histories of the vibration response of structure were used to identify the presence of damage. Furthermore, this systematic approach permits one to use the piezomaterials to both excite and sense the vibration of structures. We also carried out the experimental verification about reliability of theoretical methods fur detecting the damage of a composite beam with PZT actuator and PVDF sensor. Experimental results are presented from tests on cantilevered composite beams which is damaged at different location and different dimensions. The results were compared with the simulation results. Good agreement between the results was found for the time shifts and amplitude difference in transients response of the cantilevered beam.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.330-336
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• 2005

This paper presents a method to analyze the vibration of a flexible spinning disk-spindle system with FDBs, flexible base structure and an actuator in a HDD by using the FEM. Finite element equations of each component of a HDD spindle system from the spinning flexible disk to the flexible base plate are consistently derived by satisfying the geometric compatibility in the internal boundary between each component. A global matrix equation obtained by assembling the finite element equations of each substructure is transformed to a state-space matrix-vector equation, and both damped natural frequencies and modal damping ratios are calculated by using the restarted Arnoldi iteration method. The validity of the proposed method is verified by comparing the simulated natural frequencies, mode shapes with the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.1
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• pp.174-184
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• 1997

This paper presents a robust force tracking control of a smart flexible gripper featured by a piezoceramic actuator characterizing its durability and quick response time. A mathematical governing equation for the proposed gripper structure is derived by employing Hamilton's principle and a state space control model is subsequently obtained through model analysis. Uncertain system parameters such as frequency variation are included in the control model. A sliding mode control theory which has inherent robustness to the sys- tem uncertainties is adopted to design a force tracking controller for the piezoceramic actuator. Using out- put information from the tip force sensor, a full-order observer is constructed to estimate state variables of the system. Force tracking performances for desired trajectories represented by sinusoidal and step func- tions are evaluated by undertaking both simulation and experimental works. In addition, in order to illustrate practical feasibility of the proposed method, a two-fingered gripper is constructed and its performance is demonstrated by showing a capability of holding an object.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.2
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• pp.9-14
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• 2012

In this study, an advanced knee joint for active prosthesis leg driven by a linear actuator is suggested. The structure of knee joints of existing active prosthesis legs consists of three links. This kind of linkage requires large torque to drive the active prosthesis legs. Thus a new linkage structure is suggested to solve such problem in this paper. Motion characteristics of the suggested linkage are examined in the simulation. The motion simulation results show that the proposed linkage is able to imitate human gait cycles with the half of linear actuator speed in existing linkages.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.301-306
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• 2004

In this study, Dual servo mechanism with VCM(Voice Coil Motor) and PZT is designed for a high precision force and position control. We designed the VCM actuator and dual servo mechanism with leaf spring. VCM actuators, with their high linearity, simple structure, low weight, and high efficiency, are increasingly being used in micro-positioning applications. There are many kinds of VCM with a structure. VCM actuators are divided into two types by moving parts. One is moving magnet type and the other moving coil type. We described the properties of these two types of VCM. Design parameters of VCM are defined through the FEM simulation analysis of magnetic field and dynamic model of dual servo mechanism. These researches help to for decreasing loss in the air gap of VCM. We present dual servo mechanism is effective mechanism for a force control in hi h precision, properties of designed VCM.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.16-24
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• 2001

This paper presents an electromagnetic microactuator using the copper coil electroplated on the p+silicon diaphragm. The microactuator generates a vertical motion of the diaphragm using the radial direction, we propose a new actuator structure with twin magnets. The microactuator field in the radial direction, we propose a new actuator structure with twin magnets. The microactator shows a values of resonant frequency and quality factor in the ranges of 10.51${\pm}$0.22kHz and 46.6${\pm}$3.3, respectively. The twin magnet microactuator generates the maximum peak-to-peak amplitude of 4.4$\mu\textrm{m}$ for the AC rms current of 26.8mA, showing 2.4 times larger amplitude than the single magnet microactuator.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.6
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• pp.403-410
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• 2000

This paper deals with a study to improve the performance of Moving Coil type Linear Oscillatory Actuator (MC-LOA) considering unbalanced magnetic circuit. MC-LOA has an unbalanced magnetic circuit due to its asymmetric structure. In this type of LOA, the airgap flux density tends to have different magnitude along mover's displacement and the current directions. The above property causes eccentric of displacement center and interferes with the proper oscillation of LOA. Therefore, this paper presents two models having the unbalanced magnetic circuit and the other balanced by the saturated core. In order to compare the characteristics between the two models, a characteristic analysis for both the basic model and the improved model is performed by their dynamic analysis composed of kinetic and electric equations and Finite Element Method (FEM). The propriety of the improved model is verified through the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.9 s.186
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• pp.179-189
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• 2006

Recently the electrostatic 2-axis MEMS stages have been fabricated f3r the purpose of an application to PSD (Probe-based Storage Device). However, all of the components (platform, comb electrodes, springs, anchors, etc.) in those stages are placed in-plane so that they have low areal efficiencies such as a few percentage, which is undesirable as data storage devices. In this paper, we present a novel structure of an electrostatic 2-axis MEMS stage that is characterized by having a large areal efficiency of about 25%. For obtaining large area efficiency, the actuator part consisting of mainly comb electrodes and springs is placed right below the platform. The structure and operational principle of the MEMS stage are described, followed by a design and analysis, the fabrication and measurement results. Experimental results show that the driving ranges of the fabricated stage along the x and y axis were 27$\mu$m, 38$\mu$m at the supplied voltages of 65V, 70V, respectively and the natural frequencies along x and y axis were 180Hz, 310Hz, respectively. The total size of the stage is about 5.9$\times$6.8mm$^2$ and the platform size is about 2.7$\times$3.6mm$^2$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.439-440
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• 2006

This research proposes a novel method of shape display to present 3-dimensional objects. Shape displays allow us to feel the actual volume of the object, unlike conventional 2D visual displays of 3D objects. The proposed method employs a wire frame structure to present 3D objects. The wire frame is composed of small units driven by shape memory alloy(SMA) actuators. The drive unit is analogous to the agonist-antagonist system of animal musculoskeletal systems, where the SMA actuators serve as agonist and antagonist muscles. The force in the SMA actuator is controlled by electrical current. The drive unit is equipped with the locking mechanism so that it can sustain the external force exerted by the user as well as the own weight of the wire frame structure. By controlling the current into the SMA actuator and locking mechanism, we call control the angle of the drive unit. A chain of drive units enables presentation of 2 dimensional objects. 3 dimensional presentations are possible by collecting the chains of drive units.