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Fabrication and Control of Rectilinear Artificial Muscle Actuator
Nguyen Huu Chuc,Nguyen Huu Lam Vuong,Duk Sang Kim,Hyung Pil Moon,Ja Choon Koo,Young Kwan Lee,Jae-Do Nam,Hyouk Ryeol Choi IEEE 2011 IEEE/ASME transactions on mechatronics Vol.16 No.1
<P>In this paper, we present an artificial muscle actuator based on a dielectric elastomer called the “multistacked actuator.” The actuator is made from a new material, the synthetic elastomer, developed by the authors. The proposed actuator is configured with multiple stacked synthetic elastomer films coated with compliant electrodes on both sides. This design enables the actuator to generate rectilinear motion with high force density. In addition, the actuators can be fabricated in various geometries to meet the requirements of the applications. We develop a pulsewidth-modulated proportional-integral-derivative (PWM-PID) feedback controller based on the high-voltage switching circuit and implemented it to drive the proposed actuator. Finally, the performance of the actuator is evaluated via experiments.</P>
김덕상,진성문,김백철,Nguyen Huu Chuc,Ngyuen Huu Lam Vuong,안광준,Vuong Hong Phuc,구자춘,문형필,이영관,남재도,최혁렬 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
In this paper, we have proposed the novel tactile sensor using dielectric elastomer. Our sensor can be considered as a capacitive tactile sensor. A capacitive tactile sensor is based on a capacitor, where the dielectric is made of a compliant material so that the capacitance changes due to the strain exerted on the sensor. In the proposed design, capacitive tactile sensor is implemented using commercially available capacitance to digital converter integrated circuits(CDC), commonly used for example in cell phones. When we touch the sensor surface, the CDC detects the variation of a capacitance and we can know the position of touch through the array of electrodes on the surface. In this paper, we describe the structure of the sensor, material, fabrication process, system configuration and experimental results.