Hemispherical drive for autonomic and unconstrained actuation of flapping fins with variable amplitude

摘要

A small hemispherical drive apparatus actuates the cilia to undergo the limit cycle oscillations. Electromagnets are positioned on a housing of the apparatus. A gimbal with shaft is also attached to the housing. The shaft has a first end within the housing that is proximally separated and remains separated from the electromagnets as the shaft rotates. Generated signals excite electromagnets in sequence to produce an electromagnetic track for the shaft.

主权项

1. A hemispherical drive apparatus comprising: a hemispherical housing having an interior and a cover; an array of electromagnets positioned within the interior of said housing, said electromagnetic array comprising a plurality of electromagnetics, wherein the location of each electromagnet is defined by corresponding latitude and longitude coordinates; a gimbal positioned within said cover of said hemispherical housing; a shaft engaged to said gimbal such that said shaft can roll oscillate in multiple planes, said shaft having a first end that comprises ferromagnetic material and is located within the interior of said housing and a second end that is external to the interior of said housing, the first end of said shaft being spaced apart from said array of electromagnets by a predetermined distance and remaining spaced apart from said array by the predetermined distance as said shaft roll oscillates within the multiple planes; a fin located at the second end of said shaft; and a control system to generate signals that sequentially excite predetermined electromagnets in accordance with a predetermined sequential order in order to produce an electromagnetic track that is to be followed by the first end of said shaft; wherein said electromagnetic track forms a figure eight pattern that has a center that is aligned with the center of said hemispherical housing.