论文标题
新颖的春季机制可以在力和变形约束下迭代能量积累
Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints
论文作者
论文摘要
弹簧可以通过回收负面的机械工作来使净能量成本以零净能量成本提供，从而使运动驱动的机器人或弹簧式的人类受益。但是，人类的力和运动范围有限，电动机的产生能力有限。这些限制限制了传统弹簧可以存储多少能量，因此，弹簧可以提供多少援助。在本文中，我们介绍了一种在几个运动周期中积累负面工作的方法。我们表明，通过利用一种新型的浮动弹簧机制，无论弹簧存储的势能如何，人类或机器人的重量都可以用来迭代地增加弹簧压缩。将压缩弹簧压缩为春季前进的能量所需的力量，并使弹簧驱动的机器人和人类能够执行身体要求的任务，而无需使用大型执行器。
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.
