Exploring Latch-Mediated Spring Actuation Work Multiplication Principles with a Slingshot Spider Bioinspired Robotic Mechanism

Latch-mediated spring actuation (LaMSA) is used to power biological and engineered systems beyond the power limits of motors. LaMSA systems use a spring to store potential energy, lock the spring in place using a latch, then release the latch to control the rapid release of the spring's energy. The concept of work multiplication, primarily found in engineered LaMSA systems, enables extreme performance by using multiple strokes of a motor to load a spring. Slingshot spiders are a biological example of a work multiplication LaMSA system. They load conical webs using multiple strokes of their legs to store and release spring energy to capture flying insects. We present a slingshot spider inspired mechanism to explore properties of work multiplication systems. We discuss broader aims for the project; understanding control mechanisms and strategies for LaMSA systems, establishing links between material and geometric properties of web-springs and elastic performance, and determining scaling relationships for work multiplication systems under new scaling regimes. We present plans for addressing each of these broad aims using our proposed mechanism. Finally, we also present a preliminary prototype of the mechanism and preliminary experimental results for the prototype.