Use of compliant actuators for throwing rigid projectiles

Research output: Contribution to journal › Journal article › Research › peer-review

Standard

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

Harvard

Giombini, G, Mathiesen, J, D'Angelo, C, Argentina, M, Raufaste, C & Celestini, F 2022, 'Use of compliant actuators for throwing rigid projectiles', Physical Review E, vol. 105, no. 2, 025001. https://doi.org/10.1103/PhysRevE.105.025001

APA

Giombini, G., Mathiesen, J., D'Angelo, C., Argentina, M., Raufaste, C., & Celestini, F. (2022). Use of compliant actuators for throwing rigid projectiles. Physical Review E, 105(2), [025001]. https://doi.org/10.1103/PhysRevE.105.025001

Vancouver

Giombini G, Mathiesen J, D'Angelo C, Argentina M, Raufaste C, Celestini F. Use of compliant actuators for throwing rigid projectiles. Physical Review E. 2022 Feb;105(2). 025001. https://doi.org/10.1103/PhysRevE.105.025001

Author

Giombini, Guillaume ; Mathiesen, Joachim ; D'Angelo, Christophe ; Argentina, Médéric ; Raufaste, Christophe ; Celestini, Franck. / Use of compliant actuators for throwing rigid projectiles. In: Physical Review E. 2022 ; Vol. 105, No. 2.

Bibtex

@article{59e294c4ff8444ff91ce71741c4ea6da,

title = "Use of compliant actuators for throwing rigid projectiles",

abstract = "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. ",

author = "Guillaume Giombini and Joachim Mathiesen and Christophe D'Angelo and M{\'e}d{\'e}ric Argentina and Christophe Raufaste and Franck Celestini",

note = "Publisher Copyright: {\textcopyright} 2022 American Physical Society.",

year = "2022",

month = feb,

doi = "10.1103/PhysRevE.105.025001",

language = "English",

volume = "105",

journal = "Physical Review E",

issn = "2470-0045",

publisher = "American Physical Society",

number = "2",

}

RIS

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

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

Niels Bohr Institute