국방분야에 적용 가능한 지능형 물질 기반 소프트로봇 기초연구 동향
Fundamental studies for intelligent materials and structural mechanics for defense application of soft robots
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초록
지능형 물질 기반 소프트 로봇은 최근 기초연구로서 발돋움하고 있으며 기능성과 미래 발전 가능성 측면에서 국방분야의 관심이 요구된다. 이 논문에서는 현재 개발 중인 지능형 물질 기반 소프트 로봇에 대한 연구 동향과 소프트 로봇과 연관된 구조역학 연구 동향을 바탕으로 국방 분야 적용 가능성을 개발된 기술 들의 사례를 바탕으로 분석하여 제안하였다. 형상기억합금, 강자성 물질, 자기유변물질, 액정엘라스토머, 압전소자 및 메타물질 등 신물질의 발달과 탄성체의 비선형성에 대한 이해, 강성 제어가 가능한 구조의 설계 방법과 사례를 소개한다.
Abstract
Soft robots based on intelligent materials have recently emerged as a fundamental research field for robotics. This paper reviews the recent developments in soft intelligent robots with a particular focus on their application in the defense sector. Given the adaptability and potential of these robots in air, ground, and space environments, understanding the mechanics and material properties is crucial for their deployment in defense. The discussion encompasses various intelligent materials such as shape memory alloys, ferromagnetic materials, magnetorheological materials, liquid crystal elastomers, piezoelectric materials, and metamaterials. Furthermore, the paper explores the structural mechanics required for modeling these advanced robots, emphasizing elasticity, nonlinearity, and the design of variable stiffness structures.
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