저전압 대변위 고정도 구동을 위한 근육모사 직렬연결 디지털 구동기

Abstract

This paper presents muscle-inspired serial digital actuators, achieving the improvement of the range-to-precision and range-to-voltage performance. We propose a weight-balanced design for the serial actuators with serpentine springs using serial arrangement of digital actuators. We have measured the displacement range, precision, and drive voltage at unit and serial actuation of 1Hz. The serial digital actuators produce a full range displacement of 28.440.02μm, accumulating the unit displacement of 2.8±0.5μm at the operating voltage of 4.47±0.07V. In addition, the serial digital actuators having the displacement precision of 37.94±6.26nm do not accumulate the precision of the unit actuators, 36.0±17.7nm. We experimentally verify that the serial digital actuators achieve the range-to-squared-voltage ratio of 1.423μm/V2 and the range-to-precision ratio of 749.6.