Title Page
Contents
ABBREVIATIONS 11
ABSTRACT 12
Ⅰ. INTRODUCTION 14
1.1. Research Overview 14
Ⅱ. ACTUATOR DESIGN 17
2.1. Concept of Design and Operation Principle 17
2.2. Design Parameter Selection via Simulation Study 20
2.3. Fabrication 27
Ⅲ. EXPERIMENTAL RESULTS 30
3.1. Force Characterization 30
3.2. Sensor Characterization 34
3.3. Actuator Length Control with Proposed Sensor 36
Ⅳ. CONCLUSION 42
Ⅴ. REFERENCES 44
ABSTRACT IN KOREAN 50
Table 1. Parameter selection for double-spring PAM 25
Figure 1. The operation and main features of the double-spring PAM. 16
Figure 2. Geometrical model of the double-spring PAM. 19
Figure 3. (a) Model components utilized in FEA, (b) The behavior inside the actuator and the evenly distributed stress on the latex membrane, (c) Sample... 24
Figure 4. FEA result for double-spring PAM with selected design parameters, showing displacement between P'=-90kPa and P'=120kPa, and... 26
Figure 5. (a) Series of photos illustrating fabrication process, (b) detailed description of the component. 29
Figure 6. Experimental apparatus used to conduct (a) the quasi-static experiment, embedded sensor characterization, and (b) the closed-loop control. 31
Figure 7. Force-strain relationship of the double-spring PAM in bidirectional actuation at various pressures. Note that three trials at all... 33
Figure 8. The relationship between inductance and strain according to various input pressures. 35
Figure 9. The closed-loop control results of the reference tracking tests with a commercial linear encoder and the proposed embedded sensor. 39
Figure 10. The disturbance rejection tests for 75 mm, 60 mm, and 45 mm lengths, respectively. An isotonic disturbance of 700 g weight was added... 41