Use of compliant actuators for throwing rigid projectiles
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Use of compliant actuators for throwing rigid projectiles. / Giombini, Guillaume; Mathiesen, Joachim; D'Angelo, Christophe; Argentina, Médéric; Raufaste, Christophe; Celestini, Franck.
In: Physical Review E, Vol. 105, No. 2, 025001, 02.2022.Research output: Contribution to journal › Journal article › Research › peer-review
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TY - JOUR
T1 - Use of compliant actuators for throwing rigid projectiles
AU - Giombini, Guillaume
AU - Mathiesen, Joachim
AU - D'Angelo, Christophe
AU - Argentina, Médéric
AU - Raufaste, Christophe
AU - Celestini, Franck
N1 - Publisher Copyright: © 2022 American Physical Society.
PY - 2022/2
Y1 - 2022/2
N2 - Muscles and tendons, actuators in robotics, and various sports implements are examples that exploit elasticity to accelerate objects. Tuning the mechanical properties of elastic elements connecting objects can greatly enhance the transfer of mechanical energy between the objects. Here, we study experimentally the throw of rigid projectiles by an actuator, which has a soft elastic element added to the distal end. We vary the thickness of the elastic layer and suggest a simple mass-spring chain model to find the properties of the elastic layer, which will maximize the energy transfer from the actuator to the projectile. The insertion of a soft layer, impedance matched to the ejection frequency of the projectile mass, can increase the throwing efficiency by over 400%. Finally, we identify that very thick and very soft compliant layers could potentially lead to high efficiency and flexibility simultaneously.
AB - Muscles and tendons, actuators in robotics, and various sports implements are examples that exploit elasticity to accelerate objects. Tuning the mechanical properties of elastic elements connecting objects can greatly enhance the transfer of mechanical energy between the objects. Here, we study experimentally the throw of rigid projectiles by an actuator, which has a soft elastic element added to the distal end. We vary the thickness of the elastic layer and suggest a simple mass-spring chain model to find the properties of the elastic layer, which will maximize the energy transfer from the actuator to the projectile. The insertion of a soft layer, impedance matched to the ejection frequency of the projectile mass, can increase the throwing efficiency by over 400%. Finally, we identify that very thick and very soft compliant layers could potentially lead to high efficiency and flexibility simultaneously.
U2 - 10.1103/PhysRevE.105.025001
DO - 10.1103/PhysRevE.105.025001
M3 - Journal article
C2 - 35291078
AN - SCOPUS:85124478713
VL - 105
JO - Physical Review E
JF - Physical Review E
SN - 2470-0045
IS - 2
M1 - 025001
ER -
ID: 307334556