Mechanical structure Sample Clauses

Mechanical structure. In order to develop a high-efficiency, wireless system, the first problem to solve has been to maintain muscle-like behaviour (therefore compliant and back-drivable) while also achieving high energy efficiency. A new technology has been developed based on a servomotor and minimizing mechanism thanks to the exploitation of permanent magnets. Actuators performance in bioinspired robotics is nowadays far from those achieved by natural muscles. The main limitations are. In order to overcome main limitations of commercial actuators used in the field of the bioinspired robotics (high inertia, low adaptability, low efficiency and low possibility to control the stiffness) SSSA developed a new kind of magnetic actuator. It is based on tree main ideas: • Use of direct magnet interaction in order to produce the actuation forces with a less power consumption. • Change of the actuation forces by modifying the magnetic orientation. • Introduction of an energy recovery system, using the conservative nature of the magnetic interaction. The magnetic actuator allows coupling two subsequent segments of the robot with a “contact- less transmission” of mechanical power. This compliant actuation is characterized by a very high efficiency in both direct and reverse motion, which is not-trivial to achieve in small dimensions. This let to exploit passive dynamics during the undulatory swimming motion. The frequency of this cycling motion can be tuned to match the natural frequency of the system (ωs), by dimensioning structural stiffness with suitable elasticity. Virtually, ωs be further adjusted by controlling the position of the magnets using two motors per actuated segment, thus achieving variable stiffness. In the prototype, only one motor per segment was used, by focusing on a preferred swimming mode. The work Wm needed by the motors during the cycle accounts only for the forward propulsion and for counteracting losses, while most of the energy Ecr needed for decelerating the masses at every cycle is stored and reused for actuating the direct motion of the subsequent cycle.
Sample 1
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