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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 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).
In contrast to spiders, hydraulic pressure does not play a significant role in leg movement. However, a flexed leg of Leiobunum can return 80% in extension. This springlike property is a due to elastic sclerites that span across the joints. The elasticity may be due to resilin in the sclerites.
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.
[7] [8] The spider's anatomy utilizes a simple hydraulic (fluid) pressure system. Spider legs have flexor muscles that naturally constrict their legs when relaxed. [1] [8] A force is required to straighten and extend their legs, which spiders accomplish by pumping hemolymph fluid (blood) through their joints as a means of hydraulic pressure.
Underwater walking robot, using Klann leg linkages in laser-cut and anodised aluminium. [1] The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement, a leg mechanism. The linkage consists of the frame, a crank, two grounded rockers, and two couplers all connected by pivot joints.
A jackup rig is a barge fitted with long support legs that can be raised or lowered. The jackup is maneuvered (self-propelled or by towing) into location with its legs up and the hull floating on the water. Upon arrival at the work location, the legs are jacked down onto the seafloor.
A leg mechanism (walking mechanism) is a mechanical system designed to provide a propulsive force by intermittent frictional contact with the ground. This is in contrast with wheels or continuous tracks which are intended to maintain continuous frictional contact with the ground.