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Durability improvement of micro-pin array for a gripper on surface with fine asperities : 미세돌기 표면용 그리퍼를 위한 미세 핀 배열의 내구성 향상
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 주종남 | - |
dc.contributor.author | 윤영일 | - |
dc.date.accessioned | 2017-07-14T03:41:22Z | - |
dc.date.available | 2017-07-14T03:41:22Z | - |
dc.date.issued | 2016-02 | - |
dc.identifier.other | 000000133539 | - |
dc.identifier.uri | https://hdl.handle.net/10371/123891 | - |
dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부 우주항공공학전공, 2016. 2. 주종남. | - |
dc.description.abstract | In this study, durability of micro-pin array fabricated using nanosecond pulsed laser beam machining is improved for wall attachment mechanism of a climbing robot. Fabrication of micro-pin array using nanosecond pulsed laser beam machining was previously studied for simply clinging on the wall. However, due to low durability of pins, tips of pins were broken after multiple uses so the broken pins were not able to get interlocked. This study suggests a new method to increase durability of pin array for continuous use while increasing the maximum interlocking force of pins. Electrochemical etching process was used for durability improvement and interlocking force increment of pin array was gained through controlling line spacing and tip radius. Maximum interlocking force of pin has increased from 176.48 mN/mm2 to 205.32 mN/mm2, and 205.32 mN/mm2 of constant and steady interlocking force could be achieved after multiple uses without damaging tip of micro-pin array. | - |
dc.description.tableofcontents | Chapter 1. Introduction 1
1.1. Study Background 1 1.2. Purpose of Research 4 Chapter 2. Methods 6 2.1. Fabrication of micro-pin array 6 2.2. Electrochemical etching 8 2.3. Interlocking force measurement system 10 Chapter 3. Results 16 3.1. Fabrication of micro-pin array 16 3.2. Electrochemical etching and Energy Dispersive Spectro scopy 19 3.3. Interlocking force test 25 Chapter 4. Discussions 27 4.1. Analysis on tip break of micro-pin array 27 4.2. Feasibility of micro-pin array on gripper 29 Chapter 5. Conclusions 33 5.1. Conclusions 33 References 35 국문초록 38 | - |
dc.format | application/pdf | - |
dc.format.extent | 1892198 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | Micro-pin array | - |
dc.subject | Laser beam machining | - |
dc.subject | Electrochemical etching | - |
dc.subject | Interlocking force | - |
dc.subject | Durability | - |
dc.subject | Gripper | - |
dc.subject.ddc | 621 | - |
dc.title | Durability improvement of micro-pin array for a gripper on surface with fine asperities | - |
dc.title.alternative | 미세돌기 표면용 그리퍼를 위한 미세 핀 배열의 내구성 향상 | - |
dc.type | Thesis | - |
dc.description.degree | Master | - |
dc.citation.pages | 38 | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2016-02 | - |
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