Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints
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DOI：
10.1109/icra48891.2023.10161577
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发表时间：
2022-12
期刊：
影响因子：
--
通讯作者：
Cole A. Dempsey;D. Braun
中科院分区：
文献类型：
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作者：
Cole A. Dempsey;D. Braun
弹簧可以通过回收负的机械功以零净能量成本提供力，从而使电机驱动的机器人或增强弹簧的人类受益。然而，人类的力量和活动范围是有限的，而马达产生力量的能力也是有限的。这些限制限制了传统弹簧能储存多少能量，因此也限制了弹簧能提供多少辅助。在本文中，我们介绍了一种方法来累积负功在辅助弹簧在几个运动周期。我们表明，通过利用一种新型的浮动弹簧机构，人类或机器人的重量可以用来迭代地增加弹簧的压缩，而不考虑弹簧储存的势能。将压缩弹簧所需的力与弹簧储存的能量解耦推进了先前的工作，并且可以使弹簧驱动的机器人和人类在不使用大型执行器的情况下执行体力要求高的任务。
Springs can provide force at zero net energy cost by recycling negative mechanical work to benefit motor-driven robots or spring-augmented humans. However, humans have limited force and range of motion, and motors have a limited ability to produce force. These limits constrain how much energy a conventional spring can store and, consequently, how much assistance a spring can provide. In this paper, we introduce an approach to accumulating negative work in assistive springs over several motion cycles. We show that, by utilizing a novel floating spring mechanism, the weight of a human or robot can be used to iteratively increase spring compression, irrespective of the potential energy stored by the spring. Decoupling the force required to compress a spring from the energy stored by a spring advances prior works, and could enable spring-driven robots and humans to perform physically demanding tasks without the use of large actuators.