Dynamics and energetics of dual-spring force couples in torque reversal systems.
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| Název: | Dynamics and energetics of dual-spring force couples in torque reversal systems. |
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| Autoři: | Smullen SH; Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260, United States of America., St Pierre R; Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260, United States of America.; Department of Computer Science and Engineering, University at Buffalo, Buffalo, NY 14260, United States of America. |
| Zdroj: | Bioinspiration & biomimetics [Bioinspir Biomim] 2025 Nov 24; Vol. 20 (6). Date of Electronic Publication: 2025 Nov 24. |
| Způsob vydávání: | Journal Article |
| Jazyk: | English |
| Informace o časopise: | Publisher: Institute of Physics Publishing Country of Publication: England NLM ID: 101292902 Publication Model: Electronic Cited Medium: Internet ISSN: 1748-3190 (Electronic) Linking ISSN: 17483182 NLM ISO Abbreviation: Bioinspir Biomim Subsets: MEDLINE |
| Imprint Name(s): | Original Publication: Bristol, UK : Institute of Physics Publishing, 2006- |
| Výrazy ze slovníku MeSH: | Models, Biological* , Robotics*/instrumentation , Robotics*/methods , Energy Transfer*/physiology , Biomimetics*/instrumentation , Biomimetics*/methods, Torque ; Computer Simulation ; Equipment Design ; Equipment Failure Analysis |
| Abstrakt: | Latch-mediated spring actuation systems leverage the interplay of springs and latches to rapidly accelerate a load. In biological systems, elastic energy is often distributed across multiple structures, resulting in forces applied from multiple springs. Here, we specifically examine dual-spring force couples in torque reversal systems. A dual-spring force couple applies forces from recoiling springs at two locations to generate torque. Torque reversal systems transition from spring loading to spring actuation through a change in torque direction. We develop a mathematical model of a dual-spring force couple in a torque reversal system, where one spring is attached to the pivot point of a rigid body. During spring loading, this spring compresses to store elastic energy; during spring actuation, it recoils, driving pivot translation and contributing to rotation. We experimentally validate the model using a physical model. We then vary geometric parameters and the energy partition between the two springs to examine how these factors shape system dynamics. We show how variations in geometry and energy partition influence the rotational, translational and coupling terms in the mathematical model. Finally, we demonstrate that the energetics of these systems must be carefully accounted for to accurately capture how potential energy is transformed into kinetic energy. We hypothesize that dual-spring force couples in torque reversal systems may be prevalent in biological organisms, and that insights from this work can guide the design of spring-actuated mechanisms in robotics. (Creative Commons Attribution license.) |
| Contributed Indexing: | Keywords: LaMSA; dual-spring mechanisms; geometric latch; latch-mediated spring actuation; torque reversal |
| Entry Date(s): | Date Created: 20251029 Date Completed: 20251124 Latest Revision: 20251124 |
| Update Code: | 20251124 |
| DOI: | 10.1088/1748-3190/ae191b |
| PMID: | 41160981 |
| Databáze: | MEDLINE |
Nájsť tento článok vo Web of Science | Abstrakt: | Latch-mediated spring actuation systems leverage the interplay of springs and latches to rapidly accelerate a load. In biological systems, elastic energy is often distributed across multiple structures, resulting in forces applied from multiple springs. Here, we specifically examine dual-spring force couples in torque reversal systems. A dual-spring force couple applies forces from recoiling springs at two locations to generate torque. Torque reversal systems transition from spring loading to spring actuation through a change in torque direction. We develop a mathematical model of a dual-spring force couple in a torque reversal system, where one spring is attached to the pivot point of a rigid body. During spring loading, this spring compresses to store elastic energy; during spring actuation, it recoils, driving pivot translation and contributing to rotation. We experimentally validate the model using a physical model. We then vary geometric parameters and the energy partition between the two springs to examine how these factors shape system dynamics. We show how variations in geometry and energy partition influence the rotational, translational and coupling terms in the mathematical model. Finally, we demonstrate that the energetics of these systems must be carefully accounted for to accurately capture how potential energy is transformed into kinetic energy. We hypothesize that dual-spring force couples in torque reversal systems may be prevalent in biological organisms, and that insights from this work can guide the design of spring-actuated mechanisms in robotics.<br /> (Creative Commons Attribution license.) |
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| ISSN: | 1748-3190 |
| DOI: | 10.1088/1748-3190/ae191b |