KR20170047590A - Bistable jumping robot using composite material layered process having metal sheet - Google Patents

Bistable jumping robot using composite material layered process having metal sheet Download PDF

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Publication number
KR20170047590A
KR20170047590A KR1020150147893A KR20150147893A KR20170047590A KR 20170047590 A KR20170047590 A KR 20170047590A KR 1020150147893 A KR1020150147893 A KR 1020150147893A KR 20150147893 A KR20150147893 A KR 20150147893A KR 20170047590 A KR20170047590 A KR 20170047590A
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South Korea
Prior art keywords
metal sheet
bistable
polyimide film
composite material
spring
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KR1020150147893A
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Korean (ko)
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KR101733572B1 (en
Inventor
조규진
홍성일
정순필
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국방과학연구소
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Laminated Bodies (AREA)
  • Springs (AREA)

Abstract

The present invention relates to a bistable jumping robot using a metal sheet inserted composite material lamination process. More specifically, a thin metal sheet which is an elastic material capable of permanently being deformed is inserted into a two-dimensional composite material lamination process to easily replace a function of a spring by a process where the inserted metal sheet is folded instead of an assembling process of the additional existing spring.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a bistable jumping robot using a composite material lamination process in which a metal sheet is inserted,

The present invention relates to a bistable jumping robot using a composite material lamination process in which a metal sheet is inserted. More particularly, the present invention relates to a bistable jumping robot that inserts a thin metal sheet, which is an elastic material capable of permanent deformation, The present invention relates to a bistable jumping robot using a composite material lamination process in which a metal sheet is inserted in place of a simple spring function through a folding process of an inserted metal sheet instead of an assembling process of a metal sheet.

The conventional two-dimensional-based composite laminating process is a process of aligning, laminating, and bonding a patterned rigid glass fiber composite material 3, a thermosetting adhesive film 4, and a flexible polyimide film 2 as shown in Fig. It is a method to fabricate a three-dimensional solid structure by folding and attaching along the folding line of a two-dimensional planar structure because it can be folded easily due to the difference in rigidity of the material. This technology has the advantage of simplifying the assembly process, reducing the number of parts, and lightening the structure compared with the conventional structure manufacturing method. These advantages are particularly advantageous for manufacturing a small structure, and thus are used for manufacturing various small mechanisms.

Fig. 2 is a view showing a link and a joint structure by bonding Fig. 1. Fig. 2 is a cross-sectional view showing a flexible joint part in which only the polyimide film 2 is laminated, and a rigid link part 2 in which the glass fiber composite material 3 is joined to the polyimide film 2 A two-dimensional planar structure is formed. This two-dimensional-based composite lamination process is one of the structural fabrication methods using the characteristics of origami that can be converted from a two-dimensional plane into a three-dimensional solid shape.

However, the conventional two-dimensional-based composite lamination process has a problem in that it is difficult to use materials that are not in a planar form because the patterned planar composite materials are aligned and laminated, and then compressed and bonded while heat is applied. Therefore, in the case of a mechanism requiring an elastic structure, since a general spring can not be used in a two-dimensional-based composite lamination process, a process of assembling a two-dimensional planar structure and then assembling a spring additional is required. Particularly, the smaller the structure, the more difficult the process of assembling the structure and the spring.

Therefore, in order to insert an elastic structure into a two-dimensional planar structure, a technique of inserting a beam bending spring using a planar composite material having a low Young's modulus, A technique of cutting a zigzag shape similar to a schematic shape and inserting a tension spring has been attempted.

However, these techniques always cause the equilibrium state of the spring structure to be inside the plane. Since the two-dimensional planar structure produced by the two-dimensional-based composite laminating process is transformed into the three-dimensional structure after folding, the spring insertion technique which forms the equilibrium state only in the two-dimensional plane can be applied freely to the changed three- There is a limit.

For this reason, it is necessary to search for a two-dimensional composite material laminating process method which can adjust the equilibrium state and strength freely in a three-dimensional structure instead of the role of a spring, Do.

Korean Patent No. 1258755

SUMMARY OF THE INVENTION The present invention has been made to overcome the above-mentioned problems, and it is an object of the present invention to provide a thin metal sheet, which is an elastic material, in place of a conventional spring which is additionally assembled to a two- To construct a bistable jump structure.

A thermosetting adhesive film laminated on upper and lower layers of the metal sheet and the polyimide film and a thermosetting adhesive film laminated on the upper and lower layers of the metal sheet and the polyimide film, And a glass fiber composite material which is laminated on the uppermost layer and serves as a link portion connecting the metal sheet and the polyimide film.

According to the present invention, a thin metal sheet, which is an elastic material, can be easily inserted into a two-dimensional planar structure instead of a conventional spring, which is additionally assembled to a two-dimensional planar structure formed by a two- Dimensional structure of the two-dimensional planar structure, the equilibrium state and strength of the metal sheet serving as a spring can be freely applied even in a three-dimensional structure in which the two-dimensional planar structure is folded, thereby making it possible to manufacture various small mechanisms .

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a conventional two-dimensional based composite laminating process.
2 is a view showing a link and a joint structure in a conventional two-dimensional-based composite lamination process.
3 is a conceptual diagram of a bistable structure according to a conventional two-dimensional-based composite laminating process.
Figure 4 is a conceptual graph of spring elastic energy stored in a bistable structure according to a conventional two-dimensional based composite laminating process.
5 is a view illustrating a structure in which a metal sheet as an elastic material is inserted in a two-dimensional-based composite laminate structure according to the present invention.
6 is a conceptual view showing a deformed state in which a middle portion of a metal sheet is folded in a bistable structure according to the present invention.
FIG. 7 is a conceptual diagram illustrating an equilibrium state and a tensile state of a folded and deformed metal sheet in a bistable structure according to the present invention. FIG.
8 is a conceptual view of a rotating spring in a bistable structure according to the present invention.
FIG. 9 is a flowchart illustrating a process of manufacturing a jumping robot according to the present invention.
10 is a conceptual diagram of a jumping robot according to the present invention.
FIG. 11 shows the structure and operation of a jumping robot made using the bistable structure according to the present invention.
12 is an actual photograph of a robot according to the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It will be possible. The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 3 is a conceptual diagram of a bistable structure according to a conventional two-dimensional-based composite lamination process.

In the two-dimensional planar structure of FIG. 2, the flexible joint formed by the polyimide film 2 is a bistable structure of a '?' Shape with a certain angle bent, and the upper and lower ends of the polyimide film 2, A glass fiber composite material 3 serving as a rigid link is laminated on the layer. The conventional spring 8 is additionally assembled to both link portions where the glass fiber composite material 3 is laminated so that the link portions of both the links are connected to each other.

Figure 4 shows a conceptual graph of spring elastic energy stored in a bistable structure according to a conventional two-dimensional based composite laminating process.

In the bistable structure having a '∧' shape in which the joint part composed of the polyimide film 2 has a stable angle, the both link parts are reversed with respect to the joint part, When the spring 8 is in the form of a bistable bistable structure, spring elastic energy generated due to a change in the tensile state of the spring 8 can be stored or released.

FIG. 5 is a view illustrating a structure in which a metal sheet, which is an elastic material, is inserted into a two-dimensional-based composite laminate structure according to the present invention.

The present invention relates to a metal sheet (1) having an elastic structure, a polyimide film (2) positioned on the same plane as the metal sheet (1) and serving as a joint of a bistable robot, A thermosetting adhesive film 4 laminated on the upper and lower layers of the metal sheet 2 and a glass fiber which is laminated on the lowermost layer and the uppermost layer in the lamination step and serves as a rigid link portion connecting the metal sheet 1 and the polyimide film 2 A certain pattern is formed on the metal sheet 1, the polyimide film 2, the thermosetting adhesive film 4 and the glass fiber composite material 3 using the composite material 3 and then laminated to form a bistable jump structure .

9A, the polyimide film 2 and the metal sheet 1 are stacked and overlap. However, if unnecessary portions are removed after the fabrication is completed, the polyimide film 2 and the metal sheet 1 overlap each other And the glass fiber composite material 3 is laminated above and below a portion where the polyimide film 2 and the metal sheet 1 are in contact with each other.

In order to serve as a folding line in a conventional two-dimensional-based composite laminate structure, the metal sheet 1, which is an elastic material, is inserted at a position where the polyimide film 2 having a flexible characteristic is inserted, It is possible to substitute for the role of the existing spring 8, which is additionally assembled to the structure of the shape, so that the manufacturing can be simplified and the structure of the two-dimensional plane structure can be freely applied to the structure of the three-dimensional structure.

In other words, as described with reference to the laminated structure of FIG. 9A, if a spring is additionally attached with a line that is folded using only the polyimide film 2 without the metal sheet 1, in the present invention, The metal sheet 1 is inserted into a portion other than the portion where the film 2 is used as the joint, thereby replacing the role of the spring that was previously assembled.

6 is a conceptual diagram showing a deformation state in which a middle portion of a metal sheet is folded in a bistable structure according to the present invention.

5, the middle portion of the metal sheet 1 is folded and deformed after connecting both ends of the polyimide film 2 and the glass fiber composite material 3 together. This structure is freely rotatable by the polyimide film 2 serving as a rotating joint.

7 is a conceptual diagram illustrating an equilibrium state and a tensile state of a folded and deformed metal sheet in the bistable structure according to the present invention. 12 for the sake of understanding.

The length between the both ends of the glass fiber composite material (3) and the polyimide film (2) when the metal sheet (1) curved at a predetermined angle is in a balanced state In a bistable structure of a '∧' shape in which a joint part composed of a polyimide film 2 is bent at a predetermined angle, when both link parts are reversed with respect to the joint part, a 'b' , The metal sheet 1 is stretched due to a change in the tensile state, and then returns to the original length. At this time, spring elastic energy is generated and stored or discharged due to the metal sheet (1).

The spring stiffness of the metal sheet 1 can be controlled by the kind, thickness, width, length of the metal sheet, and curvature of the metal sheet 1, and the spring element analysis technique or the pseudo-rigid- Can be calculated. The equilibrium state of the metal sheet 1 can be adjusted by the degree of folding.

FIG. 9 shows a process of fabricating the hopping robot according to the present invention, and FIG. 10 is a conceptual view of the hopping robot according to the present invention through the process of FIG.

The metal sheet 1, the polyimide film 2 and the glass fiber composite material 3 having the shape of a predetermined pattern shown in Fig. 9 (a) are bonded to each other by using the thermosetting adhesive film 4 as shown in Fig. 9 b), and then unnecessary portions which have been considered for alignment are removed as shown in Fig. 9 (c). 9 (d), when the degree of bending of the metal sheet 1 is adjusted by using the jig 6 so that the metal sheet 1 can have a desired curvature, a bistable structure in the form of (e) is formed. In this state, if the joint part formed of the polyimide film 2 is reversed as described above, a shape as shown in FIG. 9 (f) is formed.

FIG. 11 shows the structure and operation of a jumping robot made using the bistable structure according to the present invention.

As shown in Fig. 11A, the metal sheet 1a serving as a tensile spring is formed between the both links formed by laminating the glass fiber composite material 3 to connect the both links, At the end of the link, a T-shaped link 5 is connected by the metal sheet 1b serving as a rotation spring, and a shape memory alloy actuator 7 is connected to an end of the T-shaped link 5.

The metal sheet 1a serving as the tension spring is shown in a spring shape for the sake of understanding and is actually formed in the shape of a sheet as shown in Figs.

The metal sheet 1b serving as the rotating spring is also shown in a spring shape for the sake of understanding and actually has a shape of a sheet as shown in Figs.

That is, the metal sheet 1 can exhibit the rigidity of the tension spring and the rotation spring using one metal sheet.

9 (e), the joint portion constituted by the polyimide film 2, which has been deflected by a certain angle as the shape memory alloy actuator 7 is operated and contracted, is deformed And the elastic energy is stored as the metal sheet 1b serving as a rotation spring is deformed. The joint portion is deformed as shown in FIG. 11D, and at the moment when the bistable structure passes over the elastic energy barrier of the structure, all the elastic energy stored as shown in FIGS. 11E and 11F is spouted and the hopping robot is leaped.

12 is an actual photograph of a robot according to the present invention.

It is possible to drive the shape memory alloy actuator 7 to the bistable jump structure according to the present invention described above.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1a: metal sheet
1b: rotational metal sheet
2: polyimide film
3: Fiberglass composites
4: Thermosetting adhesive film
5: T-shaped link
6: Jig
7: Shape memory alloy actuator
8: Conventional spring

Claims (7)

A metal sheet having an elastic structure;
A polyimide film positioned on the same plane as the metal sheet and serving as a joint of the bistable robot;
A thermosetting adhesive film laminated on upper and lower layers of the metal sheet and the polyimide film;
And a glass fiber composite material laminated on the lowermost layer and the uppermost layer in the lamination step and serving as a link portion connecting the metal sheet and the polyimide film
A bistable jump structure using a composite material lamination process in which a metal sheet is inserted. The method according to claim 1,
When the link portions on both sides of the joint portion are reversed in a bistable structure of a '∧' shape in which the joint portion composed of the polyimide film is bent at a predetermined angle to have a '∨' shape bistable structure, Wherein a spring elastic energy generated due to a change in a tensile state of the metal sheet is stored or discharged, and a bistable jump structure using a composite material lamination process in which a metal sheet is inserted. 3. The method of claim 2,
Wherein the metal sheet is capable of exhibiting rigidity of a tension spring and a rotation spring by using one metal sheet, and a bistable jump structure using a composite material lamination process in which a metal sheet is inserted. The method of claim 3,
Wherein the spring stiffness of the metal sheet is adjustable by the kind, thickness, width, and length of the metal sheet and the curvature of the metal sheet folded, and the balance state of the metal sheet is adjustable by the degree of folding of the metal sheet. A bistable jump structure using sheet laminated composites. 5. The method of claim 4,
Wherein the metal sheet stiffness can be calculated using an element analysis technique or a pseudo-rigid-body-model. The method according to claim 1,
Wherein a bending strength of the metal sheet is adjusted by using a jig so that the metal sheet has a desired curvature, and a force is applied to the metal sheet. A metal sheet having an elastic structure;
A polyimide film positioned on the same plane as the metal sheet and serving as a joint of the bistable robot;
A thermosetting adhesive film laminated on upper and lower layers of the metal sheet and the polyimide film;
And a glass fiber composite material laminated on the lowermost layer and the uppermost layer in the lamination step and serving as a link portion connecting the metal sheet and the polyimide film,
Capable of being driven using a shape memory alloy actuator
A bistable jumping robot using composite lamination process with metal sheet inserted.
KR1020150147893A 2015-10-23 2015-10-23 Bistable jumping Structure using composite material layered process having metal sheet KR101733572B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114102555A (en) * 2021-11-30 2022-03-01 中国运载火箭技术研究院 Bionic micro robot based on stress deformation of composite film

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101968644B1 (en) 2018-05-15 2019-08-13 울산과학기술원 A bistable structure of twist type manufactured in a 3D printing and use thereof
KR101968650B1 (en) 2018-05-15 2019-04-12 울산과학기술원 Rotationable bistable structure manufactured in a 3D printing and use thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114102555A (en) * 2021-11-30 2022-03-01 中国运载火箭技术研究院 Bionic micro robot based on stress deformation of composite film
CN114102555B (en) * 2021-11-30 2024-06-11 中国运载火箭技术研究院 Bionic micro-robot based on stress deformation of composite film

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