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Segments of the legs of a spider. In most arachnids, hydraulic compression acts as the primary means of extension in several of their hinged leg joints, namely the femur–patella joint and tibia–metatarsus joints or second and third leg joints respectively. [3]
The engine drives a hydraulic pump, which in turn drives the hydraulic leg actuators. Each leg has four actuators (two for the hip joint, and two each for the knee and ankle joints), for a total of 16. Each actuator unit consists of a hydraulic cylinder, servo valve, position sensor, and force sensor.
The leg component of an arachno-bot is its core. Each of the 8 legs is equipped with S.E.S joints that mimic a spider’s mechanics. A spider's leg joints are the mechanics that the arachno-bot's artificial legs mimic in the spider-inspired electrohydraulic soft-actuated joints (S.E.S for short).
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An exploded view of an external gear pump. Hydraulic pumps supply fluid to the components in the system. Pressure in the system develops in reaction to the load. Hence, a pump rated for 5,000 psi is capable of maintaining flow against a load of 5,000 psi. Pumps have a power density about ten times
Fluid flow in an external gear pump. A hydraulic pump is a mechanical source of power that converts mechanical power into hydraulic energy (hydrostatic energy i.e. flow, pressure). Hydraulic pumps are used in hydraulic drive systems and can be hydrostatic or hydrodynamic. They generate flow with enough power to overcome pressure induced by a ...
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