http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
이한얼(Haneol Lee),오남수(Namsoo Oh),로드리그 휴고(Hugo Rodrigue) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
In this study, an inflatable gripper made with plastic films based on pouch motors is introduced. Pouch motor is an actuator which makes contraction in the longitudinal direction while expanding in the lateral direction when pressure is applied to the pouch. If the length of both ends of the pouch motor is limited to less than total length, overlap occurs between two inflated pouches makes forces outwards. And if this of one side is limited, pouches of unfixed side cannot maintain the overlap, so it can make bending angles. The gripper consists of two pouch motors based on this principle. First chamber makes bending motion by inflating. Second chamber is constrained to the unfixed side of the first chamber. It prevents the first chamber being released by the load and makes forces higher. Single actuator made with PE tubes with a width of 50 mm and a thickness of 0.05 mm can bends about 360 degrees and sustains over 1 kg loads at 10 kPa. Bending angles and forces of the gripper at the same pressure can be varied by changing the length of constraint or size of pouches.
오남수(Namsoo Oh),이한얼(Haneol Lee),로드리그 휴고(Hugo Rodrigue) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
In this paper, a soft linear inflatable actuator which is made of two individual pouch motors by pairing them together is presented, which is called paired pouch motors. The paired pouch motor which contains 2 individual pouch motors is made of TPU coated nylon and manufactured by heat sealing individual pouch motors and sewing them together. A static mathematical modeling of paired pouch motor was represented, and experiment result was directly compared with the model. The paired pouch motors have maximum contraction ratio of 41.9% when 53 g of load and 90 kPa of pressure is applied. The contraction ratio of paired pouch motors at 10 kg load was 19.22% when 90 kPa pressure is applied. Then the actuator was extended into a longer scale and was applied to a single jointed robotic arm. It was possible to see that the single paired pouch motors could fully lift the lower arm when 90 kPa of pressure was applied.