Symmetrical close packing of cylindrical objects

Laney, Samuel G.

doi:10.1109/sieds.2014.6829883

Cited by 1 publication

(2 citation statements)

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“…(6) is only a theoretical value, and due to manufacturing tolerances and other design considerations, the actual value of the finished device may in fact be lower. It turns out that this is not the most compact regular closepacked arrangement; a single ring of 6 is actually more compact [30]. A single ring of 6 solenoids would pose difficulty with regard to the spring design, however.…”

Section: Motor Unit Arrangement By Close Packingmentioning

confidence: 97%

“…By means of Eq. (7) it can be shown that two concentric rings become a more compact solution once the device contains 10 units [30]. When the number of concentric rings is greater than 2, and the number of motor units becomes larger, the situation becomes more complicated, as closer packings are possible [31] with the concentric rings having different numbers of motor units.…”

Section: Motor Unit Arrangement By Close Packingmentioning

confidence: 99%

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A muscle-like recruitment actuator with modular redundant actuation units for soft robotics

Mathijssen

Schultz

Vanderborght

et al. 2015

Robotics and Autonomous Systems

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Human muscles contrast sharply with traditional robot actuators in that they consist of several motor units, connected in series and parallel, which can be progressively recruited. Some roboticists have explored this idea in robotic actuators, striving for improvements such as the ability to withstand partial damage, inexpensive repeatability by discrete open loop control and the potential of modular actuators. These systems, however, become rather complex or rely on less widely used actuation techniques such as piezo-actuators or SMAs to produce a compact implementation. This paper presents a novel design of a modular redundant actuation unit which can be combined in various combinations to form compliant actuators with varying characteristics. The actuation unit consists of discretely activated solenoids with an integrated compliant coupling. This paper presents the working principle and the physical implementation in detail. Failure of a single motor unit will merely lead to a loss in performance rather than failure of the actuator. Since each motor unit is discrete, neither power electronics nor control requires analog signals. Isometric experiments display the actuation characteristics and demonstrate the repeatability. The platform can be used in future work to further explore the virtues of exploiting discretization and redundancy in muscle-like control

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Section: Motor Unit Arrangement By Close Packingmentioning

confidence: 97%

Section: Motor Unit Arrangement By Close Packingmentioning

confidence: 99%