2 research outputs found
μ°μμ μ΄μ€κ±°λμ νλ μ κ°ν μ μ΄μ μννΈ λ‘λ΄
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Όλ¬Έ(λ°μ¬) -- μμΈλνκ΅λνμ : 곡과λν κΈ°κ³ν곡곡νλΆ, 2022.2. μ‘°κ·μ§.λ³Έ λ
Όλ¬Έμμλ μ μ°μ¬λ£λ‘ λ§λ μ κ°ν μ’
μ΄μ κΈ° ꡬ쑰λ₯Ό κ°λ°νκ³ μ΄λ₯Ό μ κ° λ° μΆκ° λμμ΄ κ°λ₯ν μννΈ λ‘λ΄μΌλ‘ νμ©νλ μ°κ΅¬λ€μ κΈ°μ νμλ€. μ κ°ν μ’
μ΄μ κΈ° ꡬ쑰λ μ΄λνμ μΌλ‘ μ μλ λ³νμ μ ν λ° ν΄μ§μΌλ‘ ꡬννλ€. κ°λ°ν μ μ° μ κ°ν μ’
μ΄μ κΈ° ꡬ쑰λ μ’
μ΄μ κΈ° κΈ°μ‘΄ κ°λλ²μμ λνμ¬ μ μ°μ¬λ£μ μ μΆμ μν κ°λλ²μλ₯Ό μ§λκ² λλ€. μ΄μ 곡μ ꡬλμ κ°λ₯μΌνλ©΄ μΈκ°νλ μλ ₯μ λ°λΌ μ ν λ° ν΄μ§μ μν κ°λκ³Ό μ μ°μ¬λ£μ μ μΆμ μν κ°λμ μ μ¬-μ°μμ μΌλ‘ κ±°μΉλλ‘ μ λλ μ μλ€. κ°λ°ν μ€κ³ κΈ°λ²μ ν¬κ² 2κ°μ§λ‘, μ μ΄μ ꡬ쑰μ ν΄μ§κ³Ό μ μ°μ¬λ£μ μΈμ₯μ κ°κ° νμ©νλ μ΄μ€-λͺ¨ν(Dual-morphing) μ€κ³ μ리μ μ μ΄μ ꡬ쑰μ ν΄μ§μ μ°¨μ΄λ₯Ό μ£Όλ μ΄μ€-μ’
μ΄μ κΈ°(Dual-origami) μ€κ³ μλ¦¬κ° μλ€.
μ¬ν΄μ μμνλ λ¬Όκ³ κΈ°μΈ ν 리컨 μ₯μ΄ (νμ λͺ
Eurypharynx pelecanoides)μ 머리λΌλ₯Ό μ κ°ν λ€ νΌλΆλ₯Ό λμ΄λ λ
νΉν κ±°λμμ μκ°μ μ»μ΄ μ’
μ΄μ κΈ°μ ν΄μ§κ³Ό κ³ μΈμ₯ μλΌμ€ν λ¨Έ μ¬λ£ νλ©΄μ λμ΄λ¨μ μ μ¬-μ°μμ μΌλ‘ ꡬννλ μ΄μ€-ꡬλ μ’
μ΄μ κΈ° ꡬ쑰λ₯Ό κ°λ°νμλ€. κ°λ°ν ꡬ쑰λ μ μ²΄κ° λμ΄λ μ μλ μ’
μ΄μ κΈ° λ¨μλ‘ μ 체 λ€νΈμν¬(fluid networks)κ° κ΅¬μ±λμ΄ μλ€. μ΄μ€-λͺ¨νμ νΉμ§μΈ μ μ¬-μ°μ ꡬλμ μ 체 ꡬ쑰 λ° μ¬λ£μ μΌλ‘ μ€κ³λ μ 체 λ€νΈμν¬μ μ μμ΄ λͺΈμ²΄μ μ κ°λ₯Ό μ°μ μ μΌλ‘ νλ λ°©ν₯μΌλ‘ μλνμ¬ λνλκ² λλ€. κ°λ°ν μ€κ³ κΈ°λ²μ νμΈνκΈ° μν΄, ν 리컨 μ₯μ΄λ₯Ό λͺ¨μ¬νλ μΈκ³΅ μλ¬Όμ μ μνμκ³ μ΄μ€-λͺ¨ν νΉμ±μ μ μ¬νκ² ν¨μ νμΈνμλ€. μ΄μ€-λͺ¨ν μ’
μ΄μ κΈ° μ
μ κΈ°μ‘΄μ μ’
μ΄μ κΈ° ꡬ쑰μ μ μ©νμ¬ μ κ° κ°λ₯ν 그리νΌ, ν¬λ‘€λ¬, κ·Έλ¦¬κ³ μμ€ λ‘λ΄μ κ°λ°νμλ€. λμκ° νλμ μ μ© μ¬λ‘λ‘, μ΄μ€-λͺ¨ν ꡬ쑰 μ€ μμλ¬΄λΌ μ’
μ΄μ κΈ° μ€λ¦°λ (Yoshimura origami cylinder)λ₯Ό νμ©ν μννΈ κ³΅μ ꡬλκΈ°λ₯Ό κ°λ°νμλ€. κ°λ°ν μ κ°κ°λ₯ν μννΈ κ³΅μ ꡬλκΈ° (D-PneuNets actuator)λ μΈκ°λ 곡μμ μν΄ κ³΅μ μ±λ²λ€μ΄ λμ΄λ°©ν₯μΌλ‘ μλΌμ λͺ¨λ©νΈ μμ ν€μΈ μ μμ΄, λΌ μ μλ νκ³Ό ꡬλκΈ° λΆνΌμ νΈλ μ΄λ-μ€ν κ΄κ³λ₯Ό 극볡ν μ μλ€. λν, μ κ°κ°λ₯ν μννΈ κ³΅μ ꡬλκΈ°λ₯Ό νμ©νλ κ³΅κ° ν¨μ¨μ μΈ μ°©μ©ν λ‘λ΄ μ₯κ°μ κ°λ°νμλ€.
μ΄μ€-μ’
μ΄μ κΈ°(Dual-origami) μ€κ³ μ리λ 곡μμΌλ‘ ꡬλλλ μ’
μ΄μ κΈ° ꡬ쑰μ μ’
μ΄μ κΈ° λ μ΄μ΄λ₯Ό μ°κ²°νμ¬ μ€κ³ν κ²μΌλ‘, λ μ’
μ΄μ κΈ° ꡬ쑰μ ν΄μ§λ κΈΈμ΄ μ°¨μ΄λ₯Ό μ΄μ©νμ¬ μ κ° λ° κ΅½νμ μ μ¬-μ°μꡬλμ ꡬννλ€. κ³ μΈμ₯ μλΌμ€ν λ¨Έμ λΉν΄ λΉκ΅μ κ°μ±μ΄ λμ μ¬λ£λ₯Ό μ¬μ©νκ³ μ¬λ£μ μΈμ₯μ νμ©νμ§ μμΌλ―λ‘ μλμ μΌλ‘ λμ νμ λΌ μ μμΌλ©° μ κ°ν FDM(Fused Deposition Modeling) 3D νλ¦°ν°λ‘ κ°λ¨ν μ μμ΄ κ°λ₯νλ€. λ μ’
μ΄μ κΈ° ꡬ쑰μ κ±°λμ°¨μ΄λ₯Ό μ€κ³νμ¬ μ κ°μ κ΅½νμ λΉμ€μ μ‘°μ ν μ μλ€. μ΄λ₯Ό νμ©νμ¬ κ°λ°ν μ κ°ν μννΈ κ·Έλ¦¬νΌλ ν, μ¬μΈν¨, μ νμ±, κ·Έλ¦¬κ³ λ―Όμ²©ν¨μ μꡬνλ νμ§ μ
무λ₯Ό μνν μ μμΌλ©°, μ ν μλ μνμ λμ κ³΅κ° ν¨μ¨μ±μ 물리μ κ°μμμ΄ ν‘μ
μ»΅ 그리νΌμ ν¨κ» μ¬μ©ν μ μλλ‘ νμλ€.
λ³Έ νμλ
Όλ¬Έμμ κ°λ°ν μ κ°ν μ’
μ΄μ κΈ° ꡬ쑰μ μ€κ³ κΈ°λ²λ€μ μννΈ λ‘λ΄μ μ¬μ©νμ§ μμ λμ μμ ννμμ μ¬μ©μ μ κ° ν κΈ°λ₯μ μΈ λμμ κ°λ₯νκ² νλ μ€κ³ μ§μΉ¨μ μ 곡νμ¬, κ³ λνλ μ°¨μΈλ μννΈ λ‘λ΄ μμ€ν
μ μ μ©λ μ μμ κ²μΌλ‘ κΈ°λλλ€.In this thesis, development of deployable origami structures made of soft and flexible materials, and their soft robotic applications capable of deployment and additional motion (e.g., bending, inflating) are presented. The deployable origami structures produce the kinematically defined deployment by folding and unfolding. The developed soft deployable origami structures have additional range of motion due to the flexibility of the materials in addition to the kinematic deployment. By enabling pneumatic actuation, the soft deployable structures can be guided to undergo quasi-sequential unfolding and additional motion of soft material. Two design methods are developed: the dual-morphing design method that utilizes the unfolding of the foldable structure and the stretching of soft materials, respectively, and the dual-origami design method that utilizes the asymmetric unfolding of origami structures.
Inspired by a peculiar motion of a pelican eel (Eurypharynx pelecanoides) that first unfolds its mouth and then inflates it, the dual-morphing structures that embody quasi-sequential behaviors of origami unfolding and skin stretching in response to fluid pressure were developed. In the proposed system, fluid paths are enclosed and guided by a set of entirely stretchable origami units. The dual-morphing feature arises from this geometric and elastomeric design of fluid networks in which fluid pressure acts in the direction that the whole body deploys first, resulting in quasi-sequential dual-morphing response. To verify the effectiveness of our design rule, an artificial creature mimicking a pelican eel and reproduced biomimetic dual-morphing behavior is built. By compositing the basic dual-morphing unit cells into conventional origami frames, unprecedented architectures of soft machines that exhibit deployment-combined adaptive gripping, crawling, and large range of underwater motion are demonstrated. Furthermore, as an application, a soft bending actuator that using dual-morphing Yoshimura origami cylinder structures is developed. In response to applied pressure, the deployable soft pneumatic bending actuator (D-PneuNets actuator) can increase the moment arm due to the deployment of the origami chambers, thus overcoming the trade-off relationship between the output force and the bulkiness. A robotic soft glove using D-PneuNets actuator with space-efficient advantage was also developed.
The dual-origami design method is to superimpose a pneumatic-driven origami structure and an origami strain-limiting layer, to produce a quasi-sequential deployment and bending motion that is guided by unsymmetric unfolding of two origami components. The dual-origami structure is made of flexible materials with high stiffness compared to highly stretchable elastomers, thus produces relatively high force and can be easily fabricated using low-cost FDM (Fused Deposition Modeling) 3D printer. The dominance between the deployment and bending can be shifted by varying the unfolding behavior, enabling pre-programming of the motion. Finally, soft gripper applications are presented: they successfully demonstrate gripping tasks that each requires strength, delicacy, precision and dexterity, and the high compactness when folded enables cooperation with a suction gripper without physical interference.
The design methods of deployable soft origami presented in this thesis provide guidelines that enable initially small soft robots but can be deployed to be functional, and they are expected to be applied to advanced next-generation soft robot systems.Chapter 1 Introduction 1
1.1 Motivation 1
1.1.1 Soft Robots 1
1.1.2 Origami-inspired Engineering in Soft Robotics 2
1.2 Research Overview 4
Chapter 2 Deployable Origami Architectures 8
2.1 Miura Origami Polyhedron 8
2.2 Yoshimura Origami Cylinder 9
2.2 Origami Fish Base 11
Chapter 3 Bioinspired Dual-morphing Stretchable Origami (SOrigami) 16
3.1 A Dual-morphing Behavior of the Pelican-eel 18
3.2 Working Principle of SOrigami 19
3.2.1 Pelican-eel-inspred Dual-morphing Stretchable origami 19
3.2.2 Comparison Between SOrigami and Conventional Origami 22
3.2.3 2D Pseudo Rigid Body Modeling 25
3.3 Bio-mimicking dual-morphing pelican-eel origami 29
3.4 Dual-morphing Miura Origami 33
3.4.1 Pelican-eel-inspred Dual-morphing Stretchable origami 33
3.4.2 Definition of the Module, Deployment Ratio (Ξ») and Angle (Ο) of the Dual-morphing M-ori. 37
3.4.3 Parametric Study 39
3.4.4 Soft Robotic Applications of Dual-morphing M-ori 48
3.5 Dual-morphing Yoshumura Origami (Y-Ori) 52
3.5.1 Design of Y-ori 52
3.5.2 Y-ori Deployable Caging Gripper 52
3.6 Materials and Methods 57
3.6.1 Materials for SOrigami 57
3.6.2 Layer Stacking Method for Fabrication 58
3.6.3 Experiment, Simulation and Analysis 62
3.7 Discussion 64
Chapter 4 Application: Deployable Soft Pneumatic Networks (D-PneuNets) Actuator with Dual-morphing Origami Chambers 66
4.1 Design of the D-PneuNets Actuator 68
4.2 Characterization of the Actuator 71
4.2.1 Concept Validation 71
4.2.2 Characterization of the Behavior 74
4.2.3 Dual-material Yoshimura Origami Cylinder Chamber 80
4.3 Robotic Soft Glove Using D-PneuNets Actuators 83
4.4 Fabrication of D-PneuNets Actuators 87
4.5 Discussion 91
Chapter 5 A Dual-origami Design for Soft Robots 94
5.1 Motivation: Drawbacks of the Dual-morphing Principle 95
5.2 Design and Working Principle 98
5.2.1 Dual-origami Components 98
5.2.2 Quasi-sequential Deployment and Bending Motion 99
5.3 Pre-programming of the Motion 106
5.3.1 Simplified Kinematic Model 106
5.3.2 Pre-programming Method 111
5.4 Force Estimation: Simplified Pseudo rigid Body Model 116
5.5 3D Printing and Heat Treatment of Dual-origami Soft Fluidic Bending Actuator 123
5.6 Materials and Methods 126
5.6.1 Characterization and Measurement 126
5.6.2 Finite Element Analysis 127
5.6.3 3D Printing Process and Materials 127
5.7 Discussion 128
Chapter 6 Application: Soft Gripper Using Dual-oriagmi Origami Actuators 131
6.1 Design of the Gripper 131
6.2 Characterization of the Gripper 134
6.3 Development of a Versatile Soft Gripper 137
6.4 Gripper Cusomized for Box-shaped Objects 141
6.5 Discussion 143
Chapter 7 Conclusion 144
Bibliography 145
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