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복합 재료와 형상 기억 합금 코일 스프링 구동기를 이용한 유연하게 변형 가능한 바퀴 로봇의 설계 및 제작
고제성(Je-Sung Koh),이대영(Dae-Young Lee),김지석(Ji-Suk Kim),김승원(Seung-Won Kim),조규진(Kyu-Jin Cho) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.1
In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.
유체골격 애벌레의 다리조직 대변형을 모사한 적응형 그리퍼
정광필(Gwang Pil Jung),고제성(Je Sung Koh),조규진(Kyu Jin Cho) Korean Society for Precision Engineering 2012 한국정밀공학회지 Vol.29 No.1
In this study, we present a gripping mechanism that is inspired by caterpillar’s proleg. A caterpillar’s proleg has planta that gives compliance to the proleg by greatly deforming its shape. In the bio-inspired gripper, the planta is implemented by flexure joints. The flexures buckle when end force and end moment is applied on the joint in opposite direction. Using this characteristic, the gripping structure is designed so that the flexure buckling can occur. Flexure buckling increases the region where gripping force is constant and this region leads to increasing in gripping range. At the same time, flexure buckling decouples all spines and therefore all spines can move differentially and independently. With this simple but effective mechanism, the bioinspire gripper can achieve adaptive gripping on rough and rugged surfaces. A prototype is built to demonstrate adaptive gripping on rough and rugged surfaces such as cement block, brick.
서형석(Hyung Seok Seo),신동욱(Dong Wook Shin),고제성(Je-sung Koh) 국방로봇학회 2024 국방로봇학회 논문집 Vol.3 No.1
Among the various locomotions of living creatures, jumping is a very effective means of catching prey or escaping a crisis situation. Jumping robots can perform missions more efficiently than simple walking robots in disaster or environmental monitoring sites with many complex obstacles and rough terrain. Bending and Torsion jumping robots can have the greatest stiffness through a design that sets the active coil number to 1 rather than the energy storage structure using simple bending energy or springs that have been used to date. The Bending and Torsion robot is 10cm in size and can jump 20 times its body length. It has very high jumping height-to-weight ratio and high energy efficiency at the small scale. By applying a design with the active number of the coil spring to 1, high stiffness was utilized, and the large deformation of the coil spring and the buckling that occurred were applied to modeling.
멀티 스케일 다중 전개형 협업 로봇을 위한 요소 기술 개발
주종남(Chong Nam Chu),김한(Haan Kim),김정률(Jeongryul Kim),송성혁(Sung-Hyuk Song),고제성(Je-Sung Koh),허승주(Sungju Huh),하창수(ChangSu Ha),김종원(Jong Won Kim),안성훈(Sung-Hoon Ahn),조규진(Kyu-Jin Cho),홍성수(Seong Soo Hong),이동준(Do Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.1
Multi-scale mass-deployable cooperative robots’ is a next generation robotics paradigm where a large number of robots that vary in size cooperate in a hierarchical fashion to collect information in various environments. While this paradigm can exhibit the effective solution for exploration of the wide area consisting of various types of terrain, its technical maturity is still in its infant state and many technical hurdles should be resolved to realize this paradigm. In this paper, we propose to develop new design and manufacturing methodologies for the multi-scale mass-deployable cooperative robots. In doing so, we present various fundamental technologies in four different research fields. (1) Adaptable design methods consist of compliant mechanisms and hierarchical structures which provide robots with a unified way to overcome various and irregular terrains. (2) Soft composite materials realize the compliancy in these structures. (3) Multi-scale integrative manufacturing techniques are convergence of traditional methods for producing various sized robots assembled by such materials. Finally, (4) the control and communication techniques for the massive swarm robot systems enable multiple functionally simple robots to accomplish the complex job by effective job distribution.
직교 적층 쌍안정 복합재의 원통형상 형판을 이용한 곡률 제어 및 해석
류정현(Junghyun Ryu),이종구(Jonggu Lee),김승원(Seung-Won Kim),고제성(Je-Sung Koh),조규진(Kyu-Jin Cho),조맹효(Maenghyo Cho) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
Curing the bi-stable plate on the curved tool-plate is an attractive process in order to tailor the final curvature of unsymmetric laminates since there is no extra complicated process needed. Especially, in the case of cross-ply laminates, cylinder shape tool-plate shows additional advantages for curvature tailoring because final cured curvatures are controllable. Green-Lagrangian nonlinear strain field is assumed, which is based on Kirchoff-Love thin plate assumption. Unknown coefficients in the strain field are determined by minimizing the strain energy. We propose the explicit approximation method based on the fact that final shape of unsymmetric laminate is cylinder. The proposed approximation solutions are compared with the results of conventional strain energy minimization method and experiments for verification.