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정광필(Gwang-Pil Jung),정순필(Sun-Pill Jung),조규진(Kyu-Jin Cho) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Animals can stick to the trunk of a tree and the inclined rock face. They do so by employing a tagging mechanism with sharp claws. Many bio-inspired climbing robots using sharp claws have lots of claws and surface adaptable mechanisms for reliable attaching. However, assembling lots of claws is very cumbersome and it becomes a limitation of the robot’s size. Also, controlling legs to follow surface’s curves is another reason why the robots are hard to be small. This paper presents a bi-stable tagging mechanism for small-scale mobile robot. The bi-stable tagging mechanism was fabricated by a layer-based manufacturing method with patterned sheet metal: the integrative Smart Composite Microstructure (SCM) process. SCM process has enabled the making small structures but has limitations in making an elastic components embedded structures. For fabricating the bi-stable tagging mechanism that elastic components are embedded, sheet metal is inserted between composites in the laminating process, and bent to have desired shape after the curing process. Sharp claws are composed of sheet metal and they have compliance which is key for adaptable tagging. In addition, by using the integrative SCM process, it is enabled to skip the process of assembling claws. The tagging mechanism employs a bi-stable structure, so it can have advantages of moving fast to tagging shape and maintaining the tagging shape without applied force.
김성현(Sung-Hyun Kim),정광필(Gwang-Pil Jung) 한국산학기술학회 2020 한국산학기술학회논문지 Vol.21 No.4
소형의 다리형 주행 로봇은 몸체의 크기 대비 바퀴주행보다 높은 장애물을 극복할 수 있다는 장점이 있다. 이러한 이점을 활용하여 다양한 형태의 다리 주행 소형 로봇이 개발되었다. 본 논문에서는 기존의 단면 주행을 넘어 양면 주행이 가능한 12족 생체모사 크롤링 로봇을 제안한다. 주행 로봇은 험지 주행 시에 전복되거나 자세가 흐트러지는 경우가 자주 발생한다. 12족 양면 주행로봇은 전복이 되어도 지체 없이 곧바로 주행이 계속 가능하다. 양면 주행을 위한 핵심 메커니즘은 구동부를 공유하는 것이다. 몸체부의 중간에 위치한 힘 전달 구조가 위와 아래에 위치한 모든 다리로 움직임을 전달한다. 이와 같이, 유사한 기능을 수행하는 구조물을 통합하여 구조의 간소화와 경량화를 달성하였다. 또한, 무게를 줄이기 위하여 종이 기반의 복합재를 사용하여 32g의 경량 설계를 수행하였다. 로봇의 성능을 평가하기 위해, 윗면과 아랫면 모두에 대해 주행 테스트를 실시하였다. 그 결과 윗면으로 주행 시 0.52m/s, 아랫면으로 주행 시 0.42m/s의 속력을 보여주어, 양면 모두 성공적인 주행이 가능함을 확인하였다. This paper presents a lightweight milli-scale crawling robot that can crawl on both sides, which was inspired by the movement of insects. This robot has an excellent ability to overcome obstacles, such as the narrow gaps and the rough terrain. In addition, the robot can crawl steadily and rapidly through triangular alternation, such as ants or cockroaches. The process of smart composite microstructures (SCM) was employed to make a lightweight robot structure. The SCM process replaced the conventional mechanical parts with flexure joints and composite links, which allows the weight of the robot to be reduced. In addition, the robot structure was robust against external impacts owing to the compliance of the constituent materials. Using the SCM process, the robot weighed only 32g with twelve legs in total on both sides. The robot showed a crawling speed of 0.52m/s on the front side and 0.42m/s on the backside.
채수빈 ( Su-bin Chae ),정광필 ( Gwang-pil Jung ) 한국센서학회 2021 센서학회지 Vol.30 No.2
In this paper, a folding sensor based on capacitance is proposed. The sensor was developed to sense the length and angle data for the milli-scale actuators without causing any interference to the actuating joints. For the sensing and testing the robotic joint with reducing the cost and complexity aspects of manufacturing, a simple composition was adopted. The sensor comprises a pair of copper tapes, papers, and wires. The complete sensing unit is constructed by bonding the tapes with the papers and soldering the wire to the copper parts. For accuracy, a teensy 4.0 board, which has a 12-bit ADC resolution, is employed. Furthermore, the sensed analog data is not translated into the unit of capacitance for accuracy; however, it is filtered using a low-pass filter and subsequently, a Butter-worth filter. The data obtained demonstrate a periodic waveform, which implies that the data are in good agreement with the hypothesis set prior to the experiments. Compared to other milli-scale sensors, this could be a better option for sensing the length and angle data for milli-scale actuators.