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Use of compliant actuators for throwing rigid projectiles
Guillaume Giombini1, Joachim Mathiesen2, Christophe D'Angelo1
1Université Côte d'Azur, CNRS, Institut de Physique de Nice (INPHYNI), 06100 Nice, France.
Physical Review. E
|March 16, 2022
Summary
Adding a soft elastic layer to actuators significantly boosts energy transfer for throwing projectiles. Optimal impedance matching increases throwing efficiency by over 400%.
Area of Science:
- Robotics
- Biomechanics
- Materials Science
Background:
- Elasticity is crucial for energy transfer in systems like muscles, robotics, and sports equipment.
- Tuning mechanical properties of elastic elements enhances energy transfer between connected objects.
Purpose of the Study:
- To experimentally investigate projectile throwing using an actuator with a soft elastic element.
- To determine optimal elastic layer properties for maximizing energy transfer from actuator to projectile.
Main Methods:
- Experimental study of rigid projectile throws with a modified actuator.
- Varying the thickness of the distal elastic layer.
- Developing a simple mass-spring chain model to identify optimal elastic properties.
Main Results:
- Insertion of a soft elastic layer increased throwing efficiency by over 400%.
- Optimal efficiency achieved when the elastic layer's impedance matched the projectile mass's ejection frequency.
- Very thick and very soft compliant layers show potential for high efficiency and flexibility.
Conclusions:
- Soft elastic elements can dramatically improve actuator performance in accelerating objects.
- Impedance matching is key to maximizing energy transfer in elastic actuator systems.
- The study identifies material properties for achieving both high efficiency and flexibility in compliant systems.
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