Robotic Arm Passive Stoving/Caging Mechanism

Other Teams with Backdriveable Actuators:

Team Name	Characteristics	Image
KNR	Rest position is relatively horizontal
IMPULS:	Rest position is completely horizontal Low center of gravity Can remain in that position for a max tilt of 60 degrees
MONASH	Completely horizontal L2 rest position Arm further back, center of mass further back in rest position Passive holder/caging mechanisms for Linkage 2

When there is no power:
- Spring pushes against the pressure plate
- In turn, the friction disk is squeezed between the pressure plate and cover plate
- The clamping force is transferred to the hub
- Preventing the shaft to rotate
When there is power:
- The field coil turns into an electromagnet and cancels out the spring force
- The friction disk is not clamped anymore (i.e. there is gap between friction disk and pressure plate/cover plate)
- The motor is allowed to rotate

Magnets is used to attract a single face armature
When there is no power:
- Magnets create flux, which attracts the armature to the brake/friction surface.
- Prevents the shaft to rotate
When there is power
- Power is applied to the coil which sets up a magnetic field that negates the flux of the magnets.
- The motor is allowed to rotate