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| Biomimetic Actuator Design Based on the Mechanism of Antagonism |
| MA Quan-Chao, WANG Ming, LUO Yun |
| (School of Mechanical Engineering, State Key Laboratory of Mechanical System and Vibration, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract Emulating the antagonism of the muscles, a new actuator with the characteristic of conversion between the antagonistic energy was designed. Permanent magnets with high energy density and polymers with fine motion performance were respectively used as the agonistic and antagonistic components of the actuator. Antagonism of the magnetic and elastic energy was analyzed theoretically. Electromagnetic coils were designed as trigger of the antagonism of the magnetic and elastic energy, and its effectiveness was confirmed by experiments. It was concluded that the actuator with characteristic of the conversion between the antagonistic energy can work effectively.
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Received: 29 September 2011
Published: 28 May 2012
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