Abstract
The subject of this paper is an exploration of the properties of large arrays of actuators connected in parallel between an output member and base. Each actuator is postulated to operate in a binary fashion: either fully excited, or off. The array is viewed as a programmable force generator, rather than as a motion generator. A massive array of actuators acting in parallel is a model of biological muscle which can be used to examine the strategy of control via fiber recruitment, which is a major control strategy used by biological systems. Thus, in this work we are attempting to gain insights into the behavior of biological systems, as well as developing new artificial actuator structures which present machine designers with new opportunities for packaging and control.
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© 1998 Springer Science+Business Media Dordrecht
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Waldron, K.J., Yang, PH. (1998). Parallel Arrays of Binary Actuators. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_2
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DOI: https://doi.org/10.1007/978-94-015-9064-8_2
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