• 한국정밀공학회지
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• 제22권10호
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• pp.195-201
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• 2005

A laterally driven electromagnetic microactuator (LaDEM) is presented, and a micro-optical switch is designed and fabricated as a possible application. LaDEM provides parallel actuation of the microactuator to the silicon substrate surface (in-plane mode) by the Lorentz force. Poly-silicon-on-insulator (Poly-SOI) wafers and a reactive ion etching (RIE) process were used to fabricate high-aspect-ratio vertical microstructures, which allowed the equipment of a vertical micro mirror. A fabricated arch-shaped leaf spring has a thickness of $1.8{\mu}m$, width of $16{\mu}m$, and length of $800{\mu}m$. The resistance of the fabricated structure fer the optical switch was approximately 5$\Omega$. The deflection of the leaf springs increases linearly up to about 400 mA and then it demonstrates a buckling behavior around the current value. Owing to this nonlinear phenomenon, a large displacement of $60{\mu}m$ could be measured at 566 mA. The displacement-load relation and some dynamic characteristics are analyzed using the finite element simulations.

• 로봇학회논문지
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• 제8권2호
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• 한국추진공학회지
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• 제17권3호
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• pp.15-20
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• 2013

Graphite는 고온/고압의 가스가 추진기관 내의 구동장치에 유입되지 않게 기밀 소재로 사용되며, 마모 과정에서 윤활막을 형성하여 구조물 안에서 윤활과 기밀을 돕는다. 본 연구는 기밀 소재로 사용되는 Graphite의 고온 마모 시험을 통해 고온 마모 특성을 평가하였다. 고밀도 Graphite (HK-6)에 대하여 실제 작동환경에 기초 한 온도, 미끄럼 속도, 접촉 하중 조건에 따른 마모 특성을 평가 및 고찰하였다. 마모 표면 관찰을 통해 마모 메카니즘을 파악하고 고온 마모 특성을 통하여 최적화된 작동 환경 조건에 대하여 제안 하였다. 결과적으로, 상온에서 보다 고온 환경에서 윤활막 형성에 유리 하여 마찰 계수가 비교적 낮게 나타나는 것을 알 수 있다.

• Nuclear Engineering and Technology
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• 제52권11호
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• pp.2630-2637
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• 2020

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.

• 디지털융복합연구
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• 제10권11호
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• pp.331-335
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• 2012

핸드폰에 사용되는 카메라의 발달로 자동초점용 렌즈에 대한 많은 연구가 진행되어 왔다. 다양한 종류의 자동초점용 액추에이터 중에서 VCM(Voice Coil Motor)이 가장 많이 사용되고 있다. 이 VCM은 자석, 코일, 요크 등의 모양에 따라서 구성되는 자계의 흐름을 달리하여 원하는 수준의 자동초점 조절이 가능한 핸드폰용 카메라가 만들어지고 있다. 본 연구에서는 유한요소 해석프로그램인 ANSYS$^{TM}$를 이용하여 산업체에서 사용되는 다양한 구조의 렌즈 중 가장 경제적인 모델을 선택하여 전자기 분석을 수행하였다. 이 전자기 해석을 통하여 효율적인 렌즈 모듈 설계 방법을 제시한다.

• 한국전기전자재료학회논문지
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• 제18권5호
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• pp.445-449
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• 2005

Aging phenomena of 0.2PMN-0.8PZT multilayered ceramic actuators(MCA) have been investigated at the room temperature. The piezoelectric materials were synthesized as conventional ceramic process, and MCA were fabricatedby tape casting methods. The crystalline structures and lattice parameters were investigated by X-ray diffraction analysis, showing the structure was tetragonal and c/a was about 1.01. And, the effective electromechanical coupling coefficient keff and pseudo-piezoelectric constant $d_{33}$were measured. Variable unipolar electric fields, $2{\sim}4kV/mm$, were applied to MCh to investigate the aging characteristics. After 2 kV/mm unipolar electric field, keff and $d_{33}$ were 0.454 and 4.44 respectively. The measured and simulated values using for aging phenomena analysis, had a good fit to the linear logarithmic stretched exponential law.

• 한국기계가공학회지
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• 제12권6호
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• pp.117-124
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• 2013

Recently, the cell adhesion phenomenon that occurs in or between cells and other substances has become an important field of research in biology and biomedical engineering. Among the research, the foundational studies primarily experiment using biomedical materials (e.g. Glass Beads) attached to an AFM cantilever. For cell adhesion research, the mechanism where biomedical materials can be attached to the cantilever must be developed for this purpose; however, the mechanism remains an insufficient step. In this paper, a new stage where the Glass Bead can be attached to the cantilever is designed and fabricated;, the mm range movement in the stage is controlled using the stepping motor with a minimum displacement of $1{\mu}m$. The adhesive flow is also controlled using a PZT actuator. In addition, through the air suction, the cantilever holder can be fixed to the stage. The new stage including the bond inflows mechanism is evaluated and analyzed using theory and experiments.

• Advances in aircraft and spacecraft science
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• 제2권3호
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• pp.303-328
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• 2015

A design methodology is presented to develop the hingeless control surfaces for MAV using adhesively bonded Macro Fiber Composite (MFC) actuators. These actuators have got the capability to deflect the trailing edge surfaces of the wing to attain the required maneuverability, besides achieving the set aerodynamic trim condition. A scheme involving design, analysis, fabrication and testing procedure has been adopted to realize the trailing edge morphing mechanism. The stiffness distribution of the composite MAV wing is tailored such that the induced deflection by piezoelectric actuation is approximately optimized. Through ground testing, the proposed concept has been demonstrated on a typical MAV structure. Electromechanical analysis is performed to evaluate the actuator performance and subsequently aeroelastic and 2D CFD analyses are carried out to see the functional requirements of wing trailing edge surfaces to behave as elevons. Efforts have been made to obtain the performance comparison of conventional control surfaces (elevons) with morphing wing trailing edge surfaces. A significant improvement in lift to drag ratio is noticed with morphed wing configuration in comparison to conventional wing. Further, it has been shown that the morphed wing trailing edge surfaces can be deployed as elevons for aerodynamic trim applications.

• Elastomers and Composites
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• 제47권4호
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• pp.272-281
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• 2012

최근 주목을 받고 있는 유연성/신축성 전극소재는 유연디스플레이, 센서, 유전탄성고분자 액추에이터 및 제너레이터, 스마트 수술도구 등과 같은 다양한 분야에서 활용이 가능하다. 유연성/신축성 전극소재는 다양한 형태의 기계적인 변형을 받게 되는데 이때 기계적인 변형에 맞춰 함께 변형될 뿐만 아니라 신축되어야 한다. 따라서 기계적 변형에서도 전극으로써 기능을 유지해야 하기 때문에 대단히 어려운 연구분야라 할 수 있다. 본 총설에서는 최근까지 연구된 유연성/신축성 전극소재의 제조와 특성을 소개하고자 한다.

• Smart Structures and Systems
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• 제4권6호
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• pp.809-828
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• 2008

Real-time hybrid testing is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with time-dependent components. Real-time hybrid testing is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for time delays and actuator time lag is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid testing in which time delay/lag compensation is implemented using model-based response prediction. The efficacy of the proposed strategy is verified by conducting substructure real-time hybrid testing of a steel frame under earthquake loads. For the initial set of experiments, a specimen with linear-elastic behavior is used. Experimental results agree well with the analytical solution and show that the proposed approach and testing system are capable of achieving a time-scale expansion factor of one (i.e., real time). Additionally, the proposed method allows accurate testing of structures with larger frequencies than when using conventional time delay compensation methods, thus extending the capabilities of the real-time hybrid testing technique. The method is then used to test a structure with a rate-dependent energy dissipation device, a magnetorheological damper. Results show good agreement with the predicted responses, demonstrating the effectiveness of the method to test rate-dependent components.