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Design and Demonstration of a Locust-Like Jumping Mechanism for Small-Scale Robots

Journal of Bionic Engineering 2012年第3期9卷 271-281页

作者： quoc-viet nguyen hoon cheol park Department of Advanced Technology Fusion Konkuk University Seoul 143-701 Republic of Korea

A jumping mechanism can be an efficient mode of motion for small robots to overcome large obstacles on the ground and rough terrain. In this paper, we present a 7 g prototype of locust-inspired jumping mechanism that uses springs, wire, reduction gears, and a motor as the actuation components. The leg structure and muscles of a locust or grasshopper were mimicked using springs and wire, springs for passive extensor muscles, and a wire as a flexor muscle. A small motor was used to slowly charge the spring through a lever and gear system, and a cam with a special profile was used as a clicking mechanism for quick release of elastic energy stored in the springs to create a sudden kick for a quick jump. Performance analysis and experiments were conducted for comparison and performance estimation of the jumping mechanism prototype. Our prototype could produce standing jumps over obstacles that were about 14 times its own size （approximate to 71 cm） and a jumping distance of 20 times its own size （approximate to 100 cm）.

关键词： biomimetics locust jumping mechanism passive tibia extensor muscle

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Verification of Beam Models for Ionic Polymer-Metal Composite Actuator

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Journal of Bionic Engineering 2009年第3期6卷 232-238页

作者： hoon cheol park quoc viet nguyen Jang Woo Lee Young Tai Yoo Artificial Muscle Research Center Konkuk University Department of Advanced Technology Fusion Konkuk University Department of Materials Chemistry and Engineering Konkuk University

Ionic Polymer-Metal Composite (IPMC) can work as an actuator by applying a few voltages.A thick IPMC actuator,where Nafion-117 membrane was synthesized with polypyrrole/alumina composite filler,was analyzed to verify the equivalent beam and equivalent bimorph beam *** blocking force and tip displacement of the IPMC actuator were measured with a DC power supply and Young's modulus of the IPMC strip was measured by bending and tensile tests *** calculated maximum tip displacement and the Young's modulus by the equivalent beam model were almost identical to the corresponding measured *** element analysis with thermal analogy technique was utilized in the equivalent bimorph beam model to numerically reproduce the force-displacement relationship of the IPMC *** results by the equivalent bimorph beam model agreed well with the force-displacement relationship acquired by the measured *** is confirmed that the equivalent beam and equivalent bimorph beam models are practically and effectively suitable for predicting the tip displacement,blocking force and Young's modulus of IPMC actuators with different thickness and different composite of ionic polymer membrane.

关键词： jonic polymer-metal composite beam model displacement force

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Improvement of Artificial Foldable Wing Models by Mimicking the Unfolding/Folding Mechanism of a Beetle Hind Wing

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Journal of Bionic Engineering 2010年第2期7卷 134-141页

作者： Azhar Muhammad quoc viet nguyen hoon cheol park Do Y.Hwang Doyoung Byun Nam Seo Goo Department of Advanced Technology Fusion Konkuk University National Research Laboratory for Biomimetics and Microsystems Konkuk University Artificial Muscle Research Center Konkuk University Departmenet of Aerospace Engineering Konkuk University

In an attempt to realize a flapping wing micro-air vehicle with morphing wings, we report on improvements to our previousfoldable artificial hind *** hinges, which were implemented to mimic the bending zone of a beetle hind wing, weremade of small composite hinge plates and tiny aluminum *** buck-tails of rivets were flared after the hinge plates wereassembled with the rivets so that the folding/unfolding motions could be completed in less time, and the straight shape of theartificial hind wing could be maintained after *** and unfolding actions were triggered by electrically-activatedShape Memory Alloy (SMA) *** wing folding, the actuation characteristics of the SMA wire actuator were modifiedthrough heat *** a series of flapping tests, we confirmed that the artificial wings did not fold back and arbitrarilyfluctuate during the flapping motion.

关键词： hind wing unfolding folding shape memory alloy folding ratio artificial wing

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Aerodynamic force generation of an insect-inspired flapper actuated by a compressed unimorph actuator

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Chinese Science Bulletin 2009年第16期54卷 2871-2879页

作者： nguyen quoc-viet park hoon C GOO Nam S BYUN Doyoung Department of Advanced Technology Fusion Konkuk University National Research Laboratory for Biomimetics and Intelligent Microsystems Konkuk University Department of Aerospace Engineering Konkuk University

We examined experimentally the flapping performance in terms of aerodynamic force generation of an insect-inspired flapper actuated by both of original LIPCA and compressed LIPCA. Flapping tests for two artificial wing shapes of horse botfly and hawk moth were conducted at the wing rotation angle of 60° and a flapping frequency range from 6 Hz to 12 Hz to find the optimum flapping frequency and to investigate the effect of compressed LIPCA and wing shape on the force generation. Flapping tests in the vacuum were also undertaken to measure the induced inertia force. The aerodynamic force was calculated by subtracting the inertia force from the total force measured in the air. It was found that the average inertia force was relatively small when compared with the average total force. The use of the compressed LIPCA could significantly improve the flapping angle of the flapper from 110° to 130° (18.2% increase) resulting in 24.5% increase in the average aerodynamic force. It was also found that flapper with hawk moth wings could produce larger force than the flapper with horse botfly wings.

关键词：空气动力驱动器插板压缩部队昆虫压电片单层

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Stable Vertical Takeoff of an Insect-Mimicking Flapping-Wing System Without Guide Implementing Inherent Pitching Stability

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Journal of Bionic Engineering 2012年第4期9卷 391-401页

作者： Hoang Vu Phan quoc viet nguyen Quang Tri Truong Tien Van Truong hoon cheol park Nam Seo Goo Doyoung Byun Min Jun Kim Department of Advanced Technology Fusion Konkuk University Seoul 143-701 Korea Department of Aerospace Engineering Konkuk University Seoul 143-701 Korea Department of Mechanical Engineering Sungkyunkwan University Seoul 143-701 Korea Department of Mechanical Engineering and Mechanics Drexel University Philadelphia USA

We briefly summarized how to design and fabricate an insect-mimicking flapping-wing system and demonstrate how to implement inherent pitching stability for stable vertical takeoff. The effect of relative locations of the Center of Gravity （CG） and the mean Aerodynamic Center （AC） on vertical flight was theoretically examined through static force balance considera- tion. We conducted a series of vertical takeoff tests in which the location of the mean AC was determined using an unsteady Blade Element Theory （BET） previously developed by the authors. Sequential images were captured during the takeoff tests using a high-speed camera. The results demonstrated that inherent pitching stability for vertical takeoff can be achieved by controlling the relative position between the CG and the mean AC of the flapping system.

关键词： beetle flapping-wing system insect-mimicking insect flight inherent pitching stability vertical takeoff

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