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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
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The mechanical efficiency of a machine is a fundamental concept that describes how effectively a machine can convert input work into output work. According to this concept, the efficiency of a machine is equal to the ratio of the output work to the input work. An ideal machine, meaning a machine that has no energy losses, has an efficiency of one. This implies that the input work and the output work are equal.
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When an object is acted upon by a variable force, the amount of work done and the change in energy of the object can be more complex to calculate compared to when a constant force is applied. Work is the product of force and displacement, while energy is the capacity of a system to do work. When a constant force is applied to an object, the work done can be calculated as the product of the force and the distance moved in the direction of the force. However, when a variable force is applied, the...
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Soft, Modular Power for Composing Robots with Embodied Energy.

Chong-Chan Kim1, Anunth Rao Ramaswami1, Robert F Shepherd1

  • 1Department of Mechanical and Aerospace Engineering, Cornell University, 124 Hoy Road, Ithaca, NY, 14850, USA.

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Summary
This summary is machine-generated.

Researchers developed a self-powered soft robot resembling a worm, inspired by biological muscles. This innovative soft actuator boasts high energy density and can navigate complex environments, even carrying significant payloads.

Keywords:
3D printingdry adhesionembodied energymodular structureredox flow batteryuntethered soft robots

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Area of Science:

  • Robotics
  • Materials Science
  • Bio-inspired Engineering

Background:

  • Biological muscles exhibit adaptable, modular structures with energy storage, enabling diverse natural architectures.
  • Artificial analogs are sought to replicate the functionality of biological soft muscles.

Purpose of the Study:

  • To present a self-powered, soft hydrostat actuator as an artificial analog to biological soft muscle.
  • To demonstrate the assembly and capabilities of a worm robot utilizing these actuators.

Main Methods:

  • Fabrication of a battery pouch using a dry-adhesion method, bonding separators to a silicone-urethane copolymer body.
  • Integration of anolyte and catholyte within hydrostat pods, each containing a motor and tendon actuator for radial movement.
  • Assembly of self-contained pods in series to create a modular robot worm.

Main Results:

  • The robot worm achieved a high system energy density (51.3 J g-1) using a redox flow battery motif.
  • Demonstrated a long theoretical operational range exceeding 100 m on a single charge.
  • Successfully navigated enclosed, curved paths and climbed vertical pipes with a payload of 1.5 times its body weight.

Conclusions:

  • The developed soft hydrostat actuator offers a promising approach for creating self-powered, adaptable soft robots.
  • The modular design and high energy density enable complex locomotion and significant payload capabilities.
  • This innovation paves the way for advanced bio-inspired robots with versatile applications.