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.
翻译:泉水能以零净能源成本提供能源,回收负面机械工程,以惠及运动驱动的机器人或弹簧放大的人类。然而,人类的动力和运动范围有限,而运动能力有限。这些限制限制了常规泉水能储存多少能源,因此也限制了泉水能提供多少援助。在本文件中,我们引入了一种办法,在多个运动周期中,在辅助泉中积累负面工作。我们表明,通过使用一种新型的浮动弹簧机制,人类或机器人的重量可以被用来反复增加弹簧压缩,而不管弹簧储存的潜在能量如何。将压缩泉水所需的力量与春季前工程所储存的能量脱钩起来,并可以使弹簧驱动机器人和人类不用大型电动器完成体力要求性工作。