Abstract
Many arachnids use internal hemolymph pressure to actuate extension in their leg joints. The inherent large foot displacement‐to‐body length ratio that arachnids can achieve through ...hydraulics relative to muscle‐based actuators is both energy and volumetrically efficient. Until recent advances in nano/microscale 3D printing with two‐photon polymerization (2PP), the physical realization of synthetic complex ‘soft’ joints would have been impossible to replicate and fill with a hydraulic fluid into a sealed sub‐millimeter system. Inspired by nature, the smallest scale 3D‐printed hydraulic actuator (4.9 × 10
−4
mm
3
) by more than an order of magnitude is demonstrated. The use of stiff 2PP polymers with micron‐scale dimensions enable compliant membranes similar to exoskeletons seen in nature without the requirement for low‐modulus materials. The bio‐inspired system is designed to mimic similar hydraulic pressure‐activated mechanisms in arachnid joints utilized for large displacement motions relative to body length. Using variations on this actuator design, the ability to transmit forces with relatively large magnitudes (milliNewtons) in 3D space is demonstrated, as well as the ability to direct motion that is useful towards microrobotics and medical applications. Microscale hydraulic actuation provides a promising approach toward the transmission of large forces and 3D motions at small scales, previously unattainable in wafer‐level 2D microelecromechanical systems (MEMS).
Robots that use impulsive mechanisms to achieve high-speed and high-powered motion are becoming more common and better understood, but control of these systems remains relatively rudimentary. Among ...robots that use spring actuation to generate motion, robot actuation and mechanisms are usually not controlled intentionally in order to achieve variation in the system's behavior, or they are controlled only roughly via adjustments made to the amount of energy stored in the mechanism. We describe the development, construction, and test of an impulsive catapult mechanism whose design is inspired by the grasshopper leg and for which extensive variation in the projectile trajectory is achieved by force control of the actuator that restrains the spring. As a step toward future controlled jumping robots, we give a detailed model of this system, validate this model experimentally, and explain how the actuator dynamics are critical to our ability to vary the system's trajectory using this approach. This work represents a novel approach to the control of spring actuated robots and illustrates how they can be controlled even under highly limiting actuator constraints.
