Muscle-Inspired Serially-Connected Digital Actuators for Low-Voltage, Wide-Range, High-Precision Displacement Control

저전압 대변위 고정도 구동을 위한 근육모사 직렬연결 디지털 구동기

  • 이재용 (LG Electronics Inc. Digital TV 연구소) ;
  • 이원철 (한국과학기술원 바이오 및 뇌공학과, 디지털나노구동연구단) ;
  • 조영호 (한국과학기술원 바이오및뇌공학과 및 기계공학과, 디지털나노구동연구단)
  • Published : 2008.01.01


This paper presents muscle-inspired serial digital actuators, achieving the improvement of the range-to-precision and range-to-voltage performance. We propose a weight-balanced design for the serial actuators with serpentine springs using serial arrangement of digital actuators. We have measured the displacement range, precision, and drive voltage at unit and serial actuation of 1Hz. The serial digital actuators produce a full range displacement of $28.44{\pm}0.02{\mu}m$, accumulating the unit displacement of $2.8{\pm}0.5{\mu}m$ at the operating voltage of $4.47{\pm}0.07V$. In addition, the serial digital actuators having the displacement precision of $37.94{\pm}6.26nm$ do not accumulate the precision of the unit actuators, $36.0{\pm}17.7nm$. We experimentally verify that the serial digital actuators achieve the range-to-squared-voltage ratio of $1.423{\mu}m/V^2$ and the range-to-precision ratio of 749.6.


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