![]() The aim of high redundancy actuation is not to produce man-made muscles, but to use the same principle of cooperation in technical actuators to provide intrinsic fault tolerance. These properties allow the muscle as a whole to be highly resilient to damage of individual cells. A muscle is composed of many individual muscle cells, each of which provides only a minute contribution to the force and the travel of the muscle. The idea of the high-redundancy actuation (HRA) is inspired by the human musculature. Inspiration of high-redundancy actuation While this approach is certainly successful, it also makes the system expensive, heavy and ineffective. So if one actuator fails, the remaining actuator can always keep the system operation. Often three or four actuators are used in parallel for aircraft flight control systems, even if one would be For critical systems, the normal approach involves straightforward replication of the actuators. So the common solution is to err on the side of safety by over-actuation: much more control action than strictly necessary is built into the system. No control approach can work unless the actuators produce this necessary force. Both requires a certain amount of power or force to beĪpplied to the system. Actuators are essential, because they are used to keep the system stable and to bring it into the desired state. This property is also called graceful degradation.įault-tolerant operation in the presence of actuator faults requires some form of redundancy. This way, a High Redundancy Actuator can remain functional even after several elements are at fault. The basic idea is to use a lot of small actuation elements, so that a fault of one element has only a minor effect on the overall system. 1.1 Inspiration of high-redundancy actuation.
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