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광소자 정렬용 극초정밀 다축 스테이지의 구동 메커니즘에 관한 연구
정상화(Sang-hwa Jeong),김광호(Gwang-ho Kim),차경래(Kyoung-rae Cha),이경형(Kyoung-hyoung Lee),송석(Suk Song) 한국생산제조학회 2006 한국생산제조학회지 Vol.15 No.1
The communication through optical fiber is taking an important role of the expansion of communication network with excellent transmitting rate and quality. As the optical communication is introduced to the backbone network at first and becomes a general communication method of network, the demand of kernel parts of optical communication such as PLC(Planar Light Circuit), Coupler, and WDM(Wavelength Division Multiplexing) element increases. The alignment and the attachment technology are very important in the fabrication of optical elements. In this paper, the driving mechanism of ultra precision stage is studied with the aim of optimal design of stage. The travel and the resolution of stage are investigated. The hysteresis of the stage is generated because of PZT actuator. The hysteresis and the inverse hysteresis are modeled in X, Y, and Z-axis motion. The input data of desired displacement of the stage according to input voltage is obtained from the inverse hysteresis equation. In the result of experiments with the input data, the errors due to hysteresis are well compensated.
구간분할 바이너리 제어기반 SMA 구동에 의한 로봇핸드의 운동 메커니즘에 관한 연구
정상화(Sang Hwa Jeong),김광호(Gwang Ho Kim),박준호(Jun Ho Park),차경래(Kyoung Rae Cha),류신호(Shin Ho Ryu) 한국생산제조학회 2006 한국생산제조학회지 Vol.15 No.5
In recent year, as the robot technology is developed, the researches on the artificial muscle actuator that enables robot to move dexterously like biological organ become active. Actuators are key technologies underpinning robotics. Breakthroughs in actuator technology, particular in terms of power-to-weight ratio, or energy-density, will have significant impacts upon the design and control of robotic system. In this paper, a new approach to design and control of shape memory alloy(SMA) actuator is presented to drive the robot hand. SMA wire is divided into many segments and their thermal states of the SMA are controlled individually in a binary manner. This control manner will reduce the hysteresis that the SMA material has and it becomes the fundamental technology to develop the anthropomorphic robot hand. In this paper, the mechanism in the digital step motor of the shape memory alloy that is driven by the segmented binary control, which is a new control technique, is studied. This SMA digital step actuator applies for the robot hand and the driving mechanism of the robot hand is investigated.
초음파 이송시스템의 진행파에 따른 이송 방향 예측 및 해석
정상화(Sang Hwa Jeong),김광호(Gwang Ho Kim),신상문(Sang Moon Shin) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.2
An object transport system is driven by a conveyor belt system or a magnetic levitation system. It is an indispensable device in many fields and especially it is very important in the factory automation. However, the conventional transport system can damage precision optical components by the contact force and destroy the inner structure of semiconductor by the magnetic field. The new transport system for transporting without damage is required. The ultrasonic transport system is a device that transports objects on the elastic body using ultrasonic wave. In this paper, an object transport system using the ultrasonic wave is developed for transporting precision elements without damage. Traveling waves are generated by the ultrasonic wave generator fixed in both ends of the beam. The traveling wave of the ultrasonic transport system is theoretically analyzed. Transport direction of the object is examined according to phase difference and frequency. The theoretical results are verified by experiments.