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DESIGN AND SIMULATION OF A JUMPING MECHANISM ACTUATED BY SHAPE MEMORY ALLOY
Thanhtam Ho(호탐탄),Sangyoon Lee(이상윤),Sunghac Choi(최성학) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
Among various locomotion gaits on ground employed by biological creatures, jumping may be the fastest and most energy efficient travel method. Jumping creatures can overcome obstacles easily, and hence they are able to move on many types of terrains. Jumping locomotion is characterized by the extremely large and short duration force that actuates jumping. Control work for jumping is therefore much more difficult than conventional ones. Artificial musculoskeletal systems which mimic biological ones are often employed in developing jumping robots, and muscle-like pneumatic actuators are used in most cases. The use of pneumatic actuators, however, makes robots become heavy and large machines because of the complexity of pneumatic systems and the supply source. SMA (shape memory alloy) wire is considered as a good substitute for small jumping robots due to several reasons. First, SMA has a length change up to 5 percent of its length with a high blocking force while the mass is almost zero. Second, SMA is a linear actuator and the behavior is quite similar to muscle systems. This paper presents the design and simulation of a jumping mechanism actuated by SMA wire. Several types of jumping leg mechanism are considered and the simulation results are compared.
호탐탄(Thanhtam Ho),신현훈(Hyeunhun Shin),이상윤(Sangyoon Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.8
This paper presents the evaluation of PID and fuzzy control logic for the lateral position control of a moving web in roll-to-roll (R2R) printed electronics. In addition, we report the implementation of computer simulation software that enables us to develop the control logic in a graphic user interface and to test the controller performance in 3D dynamic environment. A mathematical model of the web dynamics is described first to explain the lateral motion of a moving web. Based on the model, PID and fuzzy controllers are designed, and embedded in the simulation software. Under the simulation conditions for fabricating RFID antenna by R2R printing, the results indicate that the fuzzy controller shows a better performance and can be more suitable for R2R multi -layer printed electronics.
호탐탄(Thanhtam Ho),최성학(Sunghac Choi),이상윤(Sangyoon Lee) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.9
본 논문은 형상기억합금 와이어에 의해 구동되는 점핑로봇에 대한 연구로서 기구의 설계와 컴퓨터 시뮬레이션을 포함하고 있다. 인간과 같은 척추동물 하지 근골격계의 구조와 기능을 모방한 구조의 점핑 기구를 설계하였다. 점핑 기구의 각 다리는 대퇴부, 정강이, 발의 세 부분으로 구성되고, 점핑에 필수적인 단일관절근육인 대둔근, 양관절근육인 대퇴직근과 비복근을 포함하는 구조이다. 각 근육을 형상기억합금 와이어로 대체한 컴퓨터 모델로 시뮬레이션한 결과, 로봇의 최대 점핑 높이가 로봇 신장의 약 4 배임을 확인하였다. 또한 구조가 보다 단순화된 로봇 모델과 점핑 성능을 비교하였고, 그 결과 근골격계를 모방한 모델이 점핑 높이 면에서 3.3 배 우수한 것으로 나타났다. 이러한 컴퓨터 시뮬레이션을 통하여 형상기억합금이 소형 점핑로봇의 작동기로 사용하기에 적합함을 확인하였다. In this paper, we discuss the design and simulation of a jumping-robot mechanism that is actuated by SMA (shape memory alloy) wires. We propose a jumping-robot mechanism; the structure of the robot is inspired by the musculoskeletal system of vertebrates, including humans. Each robot leg consists of three parts (a thigh, shank, and foot) and three kinds of muscles (gluteus maximus, rectus femoris, and gastrocnemius). The jumping capability of the robot model was tested by means of computer simulations, and it was found that the robot can jump to about four times its own height. This robot model was also compared with another model with a simpler structure, and the performance of the former, which was based on the biomimetic design, was 3.3 times better than that of the latter in terms of the jumping height. The simulation results also verified that SMA wires can be suitable actuators for small jumping robots.
호탐탄(Thanhtam Ho),승현수(Hyunsoo Seung),이상윤(Sangyoon Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.3
Jumping is considered as a suitable way for realizing fast locomotion on the ground. As for the issue of developing mobile robots that can jump up and forward enough for accomplishing useful missions, this paper first introduces two types of jumping principles that are found in biological animals or insects. We also present how the principles are applied to several jumping robot examples that include outcomes for the past a few years and also our recent one. Design ideas and features of the robots are explained and compared in order to discuss important issues and guidelines for the design of jumping robots.
Piezoelectrically Actuated Self-Contained Quadruped Robot
Sangyoon Lee(이상윤),Thanhtam Ho(호탐탄) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper presents the development of a mesoscale quadruped mobile robot that employs two pieces of piezocomposite actuators for the bounding locomotion. The overall design of the robot is inspired by legged insects, and in particular the leg structure of insects or animals is reflected on the robot in a simplified form, such that each leg of the robot has only one degree of freedom. The lack of degree of freedom is compensated for by a slope of the robot frame relative to the horizontal plane. For the implementation of self-contained mobile robot, a small power supply circuit is designed and fabricated. Experiments showed that the robot can locomote with the circuit on board, which can be a significant step toward the goal of building an autonomous legged robot actuated by piezocomposite actuators.