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신경 진동자와 IPMC 구동기를 결합한 생체 모방형 시스템
양우성(Woosung Yang),최수호(Suho Choi),이승엽(Seung-Yop Lee) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
We propose a control scheme of the IPMC actuator exploiting neural oscillators to achieve biologically inspired motion generation and control. In general, humans or animals show novel adaptive behaviors regardless of their kinematic configurations against unexpected disturbances or environmental changes. This is because that the entrainment property of the neural oscillator plays a key role to adapt their nervous system to the natural frequency of the interacted environments. Thus we apply the biomimetic approach to a novel control of the IPMC actuator, since the IPMC has many difficulties in control such as nonlinearities, flexibility, and unexpected motion, etc. In order to demonstrate the excellence of its entrainment, we implement experimentally the proposed control approach to the IPMC actuator. The coupled IPMC actuator successfully exhibits the motion excited by the neural oscillator. Experimental results confirm biologically inspired, selfadaptive behaviors that enable the IPMC actuator to make adaptive changes corresponding to unexpected disturbances in phase.
적층형 IPMC 구동기의 거동 특성 해석 및 실험적 검증
최수호(Suho Choi),양우성(Woosung Yang),신부현(Bu Hyun Shin),이승엽(Seung-Yop Lee) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
IPMCs (Ionic Polymer Metal-Composite) having large deformation have used as biomimetic actuators and sensors in various application fields. This work mainly deals with the static and dynamic electromechanical responses of multi-layered (multimorphs) IPMC structures as actuators. The actuating behavior of IPMC is caused by the bending moments generated by an ion exchange polymer film to an applied voltage. Dynamic characteristics such as the natural frequencies, maximum displacement and resultant force are analyzed and predicted based on the Bernoulli-Euler beam theory including the dynamics of the IPMC, electrode and substrate layers. We also compared the theoretical properties of a symmetric IPMC multimorph with the results by the finite element analysis (FEA) and experiments using 1, 2, 3, 4-layered IPMC multimorphs. In addition, we investigate the effects of the layer number and the layer thickness on the dynamic properties. It is found that there exists an optimum number of IPMC layers to maximize the transverse deflection or the resultant force.
최수호(Sooho Choi),양우성(Woosung Yang),이승엽(Seungyop Lee) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
It is known that IPMCs (Ionic Polymer Metal Composites) exhibit large displacement with flexibility. Thus, a number of researchers have researched on IPMC actuators which are capable of being used as biomimetic actuators and sensors in various application fields. This work mainly addresses the static and dynamic electromechanical behaviors of multil-joint layered IPMC actuators having various deformation rates as actuators such as a biomimetic finger. The actuating behavior of IPMC is caused by the bending moments generated by an ion exchange polymer film to an applied voltage. If two different multi-layered IPMCs are combined to form a cantilever with a certain ratio, the multi-joint layered IPMC actuator shows various deformation rates and dynamic characteristics. Dynamic characteristics such as the natural frequencies, maximum displacement and resultant force are analyzed and predicted based on the Bernoulli-Euler beam theory including the dynamics of the IPMC, electrode and substrate layers. We also compared the theoretical properties of a symmetric IPMC with the results by the finite elements analysis (FEA) and experiments using various multi-layered IPMCs having various combined ratios.