학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2013. 2. 조규진. ; The robotic fish using servomotor was generally difficult to operate high frequency because the servo motor decreases the velocity to switch the direction of the tail fin. To solve this problem, various researchers have tried to use the Scotch yoke mechanism with DC motor for robotic fish. The Scotch yoke mechanism converts the rotating motion of motor into the reciprocating motion. However, in this mechanism, the torque of the motor with scotch yoke mechanism is changed in terms of the phase of the tail fin while the DC motor maintains the torque constantly. Thus, the objective of this paper is to regulate the motor output torque by using the adjustable Scotch yoke mechanism. This mechanism uses springs to store the motor torque and cam mechanism to release this torque at desired moment. We analyzed a kinematic model of the Scotch yoke mechanism to propose a method of designing the part of the adjustable Scotch yoke mechanism. In addition, we experiment to measure the thrust of tail fin while the equal input voltage of controller is supplied respectively and compare the conventional mechanism and adjustable Scotch yoke mechanism by considering the compliance of the fin. As a result, we conclude that the adjustable scotch yoke mechanism enables the propulsion system to improve the average thrust than conventional scotch yoke mechanism during the equivalent power consumption. Therefore, based on these result, the high speed robotic fish can be made by applying the adjustable Scotch yoke mechanism which regulated the output torque. ; Abstract i Contents iii List of Tables v List of Figures vi Chapter 1. Introduction 1 Chapter 2. The Propulsion System with Scotch Yoke Mechanism 5 2.1 Characteristics of the Scotch Yoke Mechanism 5 2.2 Kinematic Model of Scotch Yoke Mechanism 8 Chapter 3. Adjustable Scotch Yoke Mechanism 12 3.1 Design of Adjustable Scotch Yoke Mechanism 12 3.2 Modeling of the Crank Wheel 16 3.3 Design of the Scotch Yoke Mechanism 20 Chapter 4 Mothod 23 4.1 Experimental Procedure 23 4.2 Apparatus 25 Chapter 5. Rusults and Discussion 27 5.1 Experimental Result 27 5.2 Analysis of the Experimental Results 28 Chapter 6 Conclusion and Future Work 34 Bibliography 36 국문초록 40 ; Master


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    Title :

    An adjustable Scotch yoke mechanism for output torque regulation ; 출력 토크 조절이 가능한 Scotch yoke 메커니즘



    Publication date :

    2013-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





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