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A Fish Robot Driven by Piezoceramic Actuators and Miniaturized Power Supply
Sang Q. Nguyen(구옌쾅상),S. Heo(허석),Hoon C. Park(박훈철),Nam S. Goo(구남서),Taesam Kang(강태삼),Doyoung Byun(변도영) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
In this paper, we have introduced a new prototype of fish robot driven by unimorph piezoceramic actuators. To improve the swimming performance of the fish robot in terms of tail beat angle, swimming speed, and thrust force, we used four Light-weight Piezo-Composite Actuators (LIPCAs). We also developed a new actuation mechanism consisting of links and gears. Performance tests of the present fish robot were conducted in the water at various tail-beat frequencies to measure tail-beat angle, swimming speed, and thrust force. The tail-beat angle was significantly improved compared to the previous one. The best tail-beat frequency was 1.4 ㎐ for the present fish robot. A miniaturized power supply was developed to excite the LIPCAs and installed inside fish robot body for free-swimming. The maximum free-swimming speed was 3.2 cm/s and maximum thrust force was 0.0048 N.
A flapper to mimic flapping frequency of a beetle using a piezoceramic actuator
Q-Tri Truong(트롱쾅트리),Q-V. Nguyen(구옌쿠옥비엣),Hoon C. Park(박훈철),Nam S. Goo(구남서),Doyoung Byun(변도영) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
In this paper, we have demonstrated an approach to increase flapping frequency of a previously developed flapper, which is actuated by Lightweight Piezo-Composite Actuator (LIPCA). This is an effort to mimic the flapping motion of Allomyrina Dichotoma, of which flapping frequency is typically 30㎐. For this purpose, the dynamic characteristic of the LIPCA and the parameter study of a four-bar linkage have been studied. The topology of the linkage system was investigated for the amplification of rotation angle and the moment transfer efficiency. Based on the results we suggested a new design of the linkages might provide a higher flapping frequency. The new four-bar linkage system was fabricated and tested to verify the possibility. The optimal flapping frequency of the modified flapper was measured to be about 18㎐. It is about 100% increase compared to the flapping frequency of the previous flapper.