A new design criterion in robotic mechanism (prevention of negative power consumption)

The paper discusses a general design method for robotic actuation mechanisms which is based on the concept to prevent power consumption in the process of negative work. The author´s past experiences are exemplified as the introduced design method; e.g. GDA, an energy efficient leg driving system for walking vehicle and IB magnet, a permanent magnet device which can be released with zero force. Two types of non-energy dissipation actuator system including rotational and translational motions are newly proposed based on the concept for the future actuator system of space robots. A translational non-energy dissipation arm with tether link, named Chameleon arm, are proposed and its basic mechanism is discussed