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Design and Study of Hybrid Actuator using Smart Soft Composite and Ionic Polymer-Metal Composite : 지능형 연성 복합재와 이온성 고분자-금속 복합체를 이용한 하이브리드 구동기의 설계와 연구
DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 안성훈 | - |
dc.contributor.author | Jin Woo Oh | - |
dc.date.accessioned | 2018-05-29T03:14:12Z | - |
dc.date.available | 2018-05-29T03:14:12Z | - |
dc.date.issued | 2018-02 | - |
dc.identifier.other | 000000150047 | - |
dc.identifier.uri | https://hdl.handle.net/10371/141378 | - |
dc.description | 학위논문 (석사)-- 서울대학교 대학원 : 공과대학 기계항공공학부, 2018. 2. 안성훈. | - |
dc.description.abstract | The key advantage of soft-bodied robots over conventional hard-bodied robots is that the soft robotic limb can create smooth, organic and complex movements. Among numerous methods of actuation, smart materials with unique properties can be integrated in soft robots to achieve enhanced maneuverability and to substantially decrease body weight. Traditionally, a single material approach has been implemented to strategically accentuate and manipulate the unique properties of the target material for the intended purpose. However, the addition of a second material can alter the functionality or even augment the performance of the original single-material system.
In this research, a hybrid actuator consisting of a shape memory alloy (SMA)-based smart soft composite (SSC) actuator and an ionic-polymer metal composite (IPMC) was designed and manufactured. Two actuators based on distinct materials were assembled in series, with one serving an assistive role for the other. Taguchi method was used to create an experimental design to test various parameters that affected the hybrid actuator performance. The effect of altering the parameters of the SSC control method was explored by changing the duty cycle of the PWM. Lastly, the assistive role of the IPMC was investigated by evaluating the direct effects of it on the SSC. | - |
dc.description.tableofcontents | Chapter 1. Introduction 1
1.1. Hybrid Actuator of Distinct Mechanisms 1 1.2. Materials 2 1.2.1. Shape Memory Alloy (SMA) 2 1.2.2. Ionic Polymer-Metal Composite (IPMC) 3 1.3. Purpose of Research 4 Chapter 2. Design 5 2.1. Design of Hybrid Actuator 5 2.2. Design of SSC 6 2.3. Design of IPMC 7 Chapter 3. Fabrication 8 3.1. Fabrication of SSC 8 3.2. Fabrication of IPMC 9 3.3. Integration 11 Chapter 4. Experimental Design 13 4.1. Taguchi Method 13 4.2. Experimental Setup 14 Chapter 5. Investigation of Parameters 17 5.1. Actuation and Deformation 17 5.2. Force and Resonance Frequency 20 5.3. Effects of Parameters on Performance 21 Chapter 6. Characteristic Changes by PWM 23 6.1. Premise 23 6.2. Effects of Variation in PWM 24 Chapter 7. Alteration of Resonance Frequency 27 7.1. Premise 27 7.2. Effects on Resonance Frequency 27 Chapter 8. Conclusion 29 Bibliography 30 국문초록 34 | - |
dc.format | application/pdf | - |
dc.format.extent | 1872225 bytes | - |
dc.format.medium | application/pdf | - |
dc.language.iso | en | - |
dc.publisher | 서울대학교 대학원 | - |
dc.subject | shape memory alloy (SMA) | - |
dc.subject | smart soft composite (SSC) | - |
dc.subject | ionic polymer-metal composite (IPMC) | - |
dc.subject | smart materials | - |
dc.subject | soft robotics | - |
dc.subject | hybrid actuator | - |
dc.subject.ddc | 621 | - |
dc.title | Design and Study of Hybrid Actuator using Smart Soft Composite and Ionic Polymer-Metal Composite | - |
dc.title.alternative | 지능형 연성 복합재와 이온성 고분자-금속 복합체를 이용한 하이브리드 구동기의 설계와 연구 | - |
dc.type | Thesis | - |
dc.contributor.AlternativeAuthor | 오진우 | - |
dc.description.degree | Master | - |
dc.contributor.affiliation | 공과대학 기계항공공학부 | - |
dc.date.awarded | 2018-02 | - |
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