공진 주파수 근처의 동적 공압 입력에 따른 소프트 엑츄에이터의 구동
- Title
- 공진 주파수 근처의 동적 공압 입력에 따른 소프트 엑츄에이터의 구동
- Authors
- SHIN, HYUNG GON; CHUNG, WAN KYUN; KIM, KEEHOON
- Date Issued
- 2021-05-20
- Publisher
- 한국로봇학회
- Abstract
- Soft actuator has benefit on its semi-infinite degree-of-freedom (DOF), and used in various underatuated systems. Using semi-infinite DOF property of soft actuator, generating complex motion with single system input is possible. In this paper, we propose a method to generate ellipsoidal tip motion using soft actuator with single pneumatic input. The actuator has only one pneumatic chamber, but pneumatic input with system’s excitation frequency generates additional motion. This motion is added to the deformation generated from pneumatic input, and finally ellipsoidal tip motion is achieved.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/107013
- Article Type
- Conference
- Citation
- 제 16회 한국로봇종합학술대회, 2021-05-20
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.