• Title, Summary, Keyword: 인공근육

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Kinematics of an Intrinsic Continuum Robot with Pneumatic Artificial Muscles (공압인공근육을 가진 내부형 연속체로봇의 기구식)

  • Kang, Bong Soo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.40 no.3
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    • pp.289-296
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    • 2016
  • This study presents the kinematics of an intrinsic continuum robot actuated by pneumatic artificial muscles. The single section of a developed continuum robot consisted of three muscles in parallel. The contraction of each muscle according to applied air pressure produced spatial motions of a distal plate with respect to a base plate. Based on the bending behaviors of artificial muscles, the orientation and position of the end-effector of a continuum robot were formulated using a transformation matrix. The orientation and position was also determined for a single section of the distal plate. A Jacobian matrix relating the contraction rate or the pressure rate of the muscles to the velocity vector of the end-effector was calculated considering the assembled position of actuators between neighboring sections of the robot. Experimental results showed that the motions of the intrinsic continuum robot were accurately estimated by the proposed kinematics.

EAP 재료 및 응용

  • 김재환
    • Journal of the KSME
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    • v.44 no.6
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    • pp.48-52
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    • 2004
  • 과거 10여 년 간 Electro-Active Polymer(EAP) 분야는 큰 변형을 낼 수 있는 지능재료들이 출현함에 따라 인공근육을 만들 수 있는 가능성으로 인해 많은 관심이 모아지고 있다. EAP는 외부의 자극에 따라 큰 변위를 생성할 뿐만 아니라 근육과 같이 탄력성이 있는, 다른 재료기술들이 낼 수 없는 특성과 성능을 가지고 있다. EAP가 갖는 생체근육과 같은 작동을 할 수 있는 가능성은 곧 공상과학의 꿈을 이루고자하는 희망을 갖게 하며 인류의 문명발전에 크게 기여할 것이다. EAP는 차세대 마이크로 로봇, 오락산업 또는 초소형 비행체의 구동과 같은 인공근육 작동기의 응용분야를 창출하고 있다. EAP 작동기의 응용성은 폭넓으며 새로운 기술혁신의 기대를 불러 일으키고 있다. (중략)

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Model Estimation and Precise Position Control of an Antagonistic Actuation with Pneumatic Artificial Muscles (공압형 인공근육을 이용한 상극 구동의 모델 추정 및 정밀 위치제어)

  • Kang, Bong-Soo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.35 no.5
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    • pp.533-541
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    • 2011
  • This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit with pressure valves. Varying switching frequency to pressure valves from 0.1 Hz to 5 Hz, parameters of a linear model were estimated optimally to predict dynamic characteristics of the antagonistic actuation. A model-base control scheme with estimated parameters was built for the precise trajectory tracking of the antagonistic structure and realized on a reconfigurable embedded control system, CompactRIO. Experimental results showed that the proposed model-based control scheme gave good performance in trajectory tracking comparing with a PD control scheme when square wave and sinusoidal wave were given as references to follow.

Relationship Between CFRP Ply Orientation and Performance Stroke in Piezoelectric Zirconate Titanate Composite Actuator(PZTCA) of Artificial Muscle (인공근육에 적용되는 압전복합재료 작동기의 탄소섬유 배향각과 작동변위의 관계)

  • Kim Cheol-Woong;Lee Sung-Hyuk;Yoon Kwang-Joon
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.641-644
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    • 2005
  • The aim of this research is to evaluate the relationship between the total effective moment $(M^E)$ and Bemoulli-Euler bending moment (M) when the ply orientations of UD CFRP in Piezoelectric Zirconate Titanate Composite Actuator (PZTCA) are changed. The obtained results as follows. Firstly, as the performance test results by the CFRP ply orientation, the performance of [0] and [90] were stable. However, while the performance of [+45] was suddenly decreased after 5 hours. Secondly, the change of $M^E$ by the CFRP ply orientation was evaluated. As the CFRP ply orientation was increased from [0] to [+60], the $M^E$ were gradually decreased. However, they became a little bit increased from [+60] to [90]. Finally, after the change of M by the CFRP ply orientation was evaluated, it was found that $M^E=2.2M$ was valid for just [0] and that there was a relationship between $M^E$ and M according to the ply orientation.

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Teleoperation of Pneumatic Artificial Muscles Based on Joint Stiffness of Master Device (마스터장치의 회전강성을 고려한 공압인공근육의 원격조정)

  • Kim, Ryeong Hyeon;Kang, Bong Soo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.12
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    • pp.1521-1527
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    • 2013
  • This study proposes a wearable master device that can measure the joint stiffness and the angular displacement of a human operator to enhance the adapting capability of a slave system. A lightweight inertial sensor and the exoskeleton mechanism of the master device can make an operator feel comfortable, and artificial pneumatic muscles having a working principle similar to that of human muscles improve the performance of the slave device on emulating what a human operator does. Experimental results revealed that the proposed master/slave system based on the muscle stiffness sensor yielded uniform tracking performance compared with a conventional position-feedback controller when the payload applied to the slave system changed.

Development of Conducting Shape Memory Polymer Actuators (전도성 형상 기억 폴리머 작동기의 개발)

  • 백일현;윤광준;조재환;구남서
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.11
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    • pp.976-980
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    • 2004
  • This study has introduced how to make conducting shape memory polyurethane(CSMPu) as a possible application to smart actuators. Different from conventional polyurethane, CSMPu can have a high conductivity and then electric power supplies enough energy to deform. To prepare conducting polyurethane, carbon nanotubes were incorporated into shape memory polyurethane. Basic experiments to reveal its characteristics have been conducted for a development of actuators. From the results conducted in the present study, optimized conditions for the process of actuating deformation were found. Thermo-electric characteristics such as the relation between temperature and specific resistance and trend curves of resistance variations according to elongations were measured. These data provided a strong possibility of CSMPu as a smart actuator.