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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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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.