Sub-gram Compliant Actuation Structures Using Artificial Muscle and Elasto-capillarity
- 주제(키워드) actuator , shape memory alloy , elasto-capillarity
- 주제(DDC) 621.8
- 발행기관 아주대학교 일반대학원
- 지도교수 Je-sung Koh
- 발행년도 2024
- 학위수여년월 2024. 8
- 학위명 박사
- 학과 및 전공 일반대학원 기계공학과
- 실제URI http://www.dcollection.net/handler/ajou/000000034195
- 본문언어 영어
- 저작권 아주대학교 논문은 저작권에 의해 보호받습니다.
초록/요약
A sub-gram actuation system resolves practical engineering problems in compact wearable devices and insect-scale semi-aquatic robots, which are limited to conventional actuators such as electromagnetic actuators. Abstracting the fundamental advantages of an artificial muscle actuator provides a small-scale, high-power actuating system with a sensing capability for developing naturally fit haptic gloves. Here, we design a shape memory alloy (SMA)-based lightweight and high-power artificial muscle actuator, the so- called compliant amplified SMA actuator (CASA). Despite its light weight (0.22 g), the CASA has a high power density of 1.7 kW/kg, an actuation strain of 300% under 80 g of external payload. We show how CASA enables an immersive tactile response in the form of two-way communication haptic gloves whose thin form factor and high power density can hardly be achieved by conventional actuators. Moreover, elasto-capillary driven self- morphing microstructure enhances interfacial locomotion of small semi-aquatic robots limited by their scale. We discovered that the biological fan exhibits a flat-ribbon morphology and hypothesize that the flat-ribbon morphology is optimally adapted for two key functions, maximizing propulsion and elasto-capillary morphing.
more목차
Chapter I. Introduction 1
I.1 Sub-gram actuation system 1
I.1.1 Augmented reality wearable device 1
I.1.2 Semi aquatic robot 4
I.2 Objectives and Contribution 5
Chapter II. Compliant amplified shape memory alloy actuator (CASA) 8
II.1 Actuator design and performance 8
II.1.1 Principles of operation, design, and characteristics of the CASA 8
II.1.2 Pseudo rigid body modelling 17
II.1.3 Fabrication of CASA 21
II.2 Haptic application 23
II.2.1 Haptic performance 23
II.2.2 Resistance sensing and tactile communication 30
Chapter III. Water-walking bio-inspired robot 34
III.1 SMA-based water-walking robot 34
III.1.1 Actuator and robot design 34
III.1.2 Robot operating mechanism 38
III.2 Elasto-capillary self-morphing fan 45
III.2.1 Artificial fan design 45
III.2.2 Robot control and performance 52
III.2.3 Artificial fan modelling 59
Chapter IV. Discussion and Conclusion 65
Bibliography 67
