콘텐츠 본문
논문 국내 국제전문학술지(SCI급) Turing Locomotion of a Worm-like Robot Using an Electromagnetic Actuator
- 학술지 구분 국제전문학술지(SCI급)
- 게재년월 2019-07
- 저자명 백중환,Hongbin Liu,김영식,신부현
- 학술지명 Transactions of the Korean Society of Mechanical Engineers, A
- 발행처명 Korean Society of Mechanical Engineers
- 발행국가 국내
- 논문언어 한국어
- 전체저자수 4
논문 초록 (Abstract)
The aim of this study is to investigate the turning locomotion of a worm-like robot using four segmented solenoids. The electromagnetic force driven worm-like robot is composed of four solenoids, a compliance guide, and a tendon-driven mechanism. The structure of the actuator in the robot mimics the muscular structure and locomotion of an earthworm. The turning motion of the robot has been analyzed both theoretically and numerically. Electromagnetic force and friction force govern the motion of the robot. The prototype of the robot was fabricated based on the simulation study, and its performance was compared to the simulation study. The robot is able to turn along a guide of 1° with a friction of 0.5 and 500 A-turn. It was demonstrated that the worm-like robot achieved turning locomotion.
