제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Modeling and control Methods for Multi-DOF dielectric polymer actuator

  • Jung, M.Y. (School of Mechanical Engineering, SungKyunkwan University) ;
  • Jung, K.M. (School of Mechanical Engineering, SungKyunkwan University) ;
  • Koo, J.C. (School of Mechanical Engineering, SungKyunkwan University, School of applied chemistry, SungKyunkwan University) ;
  • Choi, H.R. (School of Mechanical Engineering, SungKyunkwan University) ;
  • Nam, J.D. (School of applied chemistry, SungKyunkwan University) ;
  • Lee, Y.K. (School of applied chemistry, SungKyunkwan University)
  • Published : 2004.08.25
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Abstract

Principles and mechanism of energy transduction of dielectric polymer materials are well known from the various smart material related publications. However their introduction to industrial actuator applications is limited mainly due to difficulties guarantee controllability and reliability. Most of the previous publications have elaborates energy transduction physics of chunk of polymer while development of construction methods for feasible actuators made of the material is rarely proposed. In the present article, a conceptual design of multi-DOF linear polymer actuator construction that is to be controllable with moderate level of control work os introduced. In addition, numerical models that are developed with a unified energy based approach are presented not only for basic working mechanism analysis of the polymetric soft actuator but for providing analytical foundation to expend the concept toward design of multi-DOF actuator controls.

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