3 This force is provided by one powerful electric motor, whose rotational speed also controls the flapping frequency of the wings; the forces are transferred to the wings by means of a leverage system fitted with a further actuator, which by slightly displacing the pivot points can modify the effective length of the lever arms and thus also the transmission ratio; this in turn regulates the amplitude of the flapping wings. The entire mechanism is designed in such a way that in conjunction with the elastic wing twist, the kinematics of the penguins’ underwater “flight” is imitated almost perfectly, the flapping cycles are practically a self-regulating automatism, and manoeuvring is effected with only a minimum of effort. The manoeuvres are supported by an intelligent 3D sensor system, which in this case, however, was borrowed from an entirely different group of animals. To analyse their surroundings, the AquaPenguins are fitted with special 3D sonar which makes use of broadband ultrasound signals, similar to those used by dolphins and bats. This enables them to determine their spatial position, constantly measure the distances to the walls of the water basin, avoid collisions and navigate autonomously. A separate pressure sensor is also available for operation at greater depths in free water. Some of the movement patterns have been combined into programmed elementary manoeuvres. The further processing is carried out by the intelligent onboard electronics that allow the penguins to navigate autonomously and to develop versatile patterns of interaction with the other members of the group. AquaPenguin – technology-bearer for the automation technology of tomorrow The bionic penguins readily demonstrate what is meant by learning from nature. The use of innovative technical materials and the creative combination of various design and functional principles pave the way for new opportunities in design and automation technology. The penguins’ torso design can be used in automation for flexible tripods, thereby opening up new fields of application in handling technology. The BionicTripod has an operating range that by far transcends that of the conventional tripod configuration; for example, pick-and-place applications with an offset of 90 degrees are possible. In combination with a flexible and adaptive gripper, fragile objects of various shapes can be moved. With the AquaPenguin, Festo is benefiting from the advantages of versatile contour and structural adaptation and intelligent selforganisation, both on an individual level and in group operation. Intelligent sensors are also opening up new applications. Thanks to its rapid, precise control, the AquaPenguin can swim collisionfree in group operation, with depth control, pressure and temperature compensation, and positional stability. Transfer to automation technology is also to be found in the regulation technology of Festo. For example in the new VPPM and VPWP proportional-pressure regulators for servo-pneumatics. Rear section as a 3D Fin Ray® structure
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