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Latch-based control of energy output in spring actuated systems
Journal of The Royal Society Interface ( IF 3.9 ) Pub Date : 2020-07-01 , DOI: 10.1098/rsif.2020.0070
Sathvik Divi 1 , Xiaotian Ma 1 , Mark Ilton 2 , Ryan St Pierre 1 , Babak Eslami 3 , S N Patek 4 , Sarah Bergbreiter 1
Affiliation  

The inherent force–velocity trade-off of muscles and motors can be overcome by instead loading and releasing energy in springs to power extreme movements. A key component of this paradigm is the latch that mediates the release of spring energy to power the motion. Latches have traditionally been considered as switches; they maintain spring compression in one state and allow the spring to release energy without constraint in the other. Using a mathematical model of a simplified contact latch, we reproduce this instantaneous release behaviour and also demonstrate that changing latch parameters (latch release velocity and radius) can reduce and delay the energy released by the spring. We identify a critical threshold between instantaneous and delayed release that depends on the latch, spring, and mass of the system. Systems with stiff springs and small mass can attain a wide range of output performance, including instantaneous behaviour, by changing latch release velocity. We validate this model in both a physical experiment as well as with data from the Dracula ant, Mystrium camillae, and propose that latch release velocity can be used in both engineering and biological systems to control energy output.

中文翻译:

弹簧驱动系统中基于锁存器的能量输出控制

可以通过在弹簧中加载和释放能量来为极端运动提供动力来克服肌肉和电机固有的力-速度权衡。这种范式的一个关键组成部分是调节弹簧能量释放以驱动运动的闩锁。锁存器传统上被认为是开关;它们在一种状态下保持弹簧压缩,并允许弹簧在另一种状态下不受约束地释放能量。使用简化接触锁存器的数学模型,我们重现了这种瞬时释放行为,并证明了改变锁存器参数(锁存器释放速度和半径)可以减少和延迟弹簧释放的能量。我们确定了瞬时和延迟释放之间的临界阈值,这取决于系统的闩锁、弹簧和质量。具有刚性弹簧和小质量的系统可以通过改变闩锁释放速度来获得广泛的输出性能,包括瞬时行为。我们在物理实验以及来自德古拉蚂蚁 Mystrium camillae 的数据中验证了这个模型,并提出闩锁释放速度可用于工程和生物系统来控制能量输出。
更新日期:2020-07-01
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