dc.citation.conferencePlace |
KO |
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dc.citation.endPage |
703 |
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dc.citation.startPage |
698 |
- |
dc.citation.title |
2019 IEEE International Conference on Soft Robotics (RoboSoft) |
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dc.contributor.author |
Kwak, Bokeon |
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dc.contributor.author |
Bae, Joonbum |
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dc.date.accessioned |
2024-02-01T00:36:52Z |
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dc.date.available |
2024-02-01T00:36:52Z |
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dc.date.created |
2019-04-20 |
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dc.date.issued |
2019-04-17 |
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dc.description.abstract |
Developing a highly integrated mesoscale (a few millimeter-centimeter) mechanism is dauntingly challenging work, and yet many technological improvements in soft robotics keep pushing the boundary. In this work, we proposed a new approach to develop a compliant mechanism integrated with a conductive polymer actuator and a resistive sensor. A polypyrrole (PPy) was utilized to fabricate a unimorph bending actuator through electropolymerization owing to its low operating voltage and high energy density. Also, carbon blacked filled polydimethylsiloxane (CPDMS) was directly contact printed on a flexural joint of a compliant mechanism to sense its motion. The performance of a PPy actuator and CPDMS sensor were individually investigated, which would be valuable at followup studies. In addition, inspired by pleopods (i.e. swimming legs) of aquatic arthropods, a CPDMS sensor integrated four-bar-linkage driven by a PPy actuator was developed for future applications in mesoscale swimming robots. After immersing in an electrolyte solution, the PPy actuator successfully drove the linkage structure with 5 V while the CPDMS sensor was able to partially sense the motion. |
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dc.identifier.bibliographicCitation |
2019 IEEE International Conference on Soft Robotics (RoboSoft), pp.698 - 703 |
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dc.identifier.doi |
10.1109/ROBOSOFT.2019.8722770 |
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dc.identifier.scopusid |
2-s2.0-85067093098 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/79999 |
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dc.language |
영어 |
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dc.publisher |
IEEE |
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dc.title |
Development of a Four-Bar Linkage Integrated with a Polypyrrole Actuator and a Resistive Sensor Toward Biomimetic Pleopods |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2019-04-14 |
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