3. Content of the design primitive library

3.1. Organization and description of the library elements

To simplify the presentation of the library elements and provide a framework for future extensions, the developed hardware elements are organized, for each DP functional category, using the following hierarchical classification:

Types (T) are used to distinguish the hardware elements on the basis of their design principle.

Varieties (V) are used, if needed, to distinguish the hardware elements based on the same design principles, on the basis of the technical implementation.

The description of each variety follows the following structure:


regroup figure and graphics illustrating the library element and its main features


list the element’s most important dimensions


provide a textual explanation of the element’s main features

Material and fabrication

detail the materials and fabrication methods foreseen for the various parts of the library element

Integration of the electronics

if needed, provides more details about the embedded electronic component and their integration in the hardware element


lists the additional pieces of hardware usable with the library element, if any

Implemented instances

list the instances of the hardware elements that have been implemented so far, with their corresponding names and dimensions

3.2. Overview of the implemented library elements

3.2.1. Mechanical couplings Structural Bond


Fig. 3.1 Type 1: Flange clamp with conical flange Anchor Fastener


Fig. 3.2 Type 1: Screw Fasteners Cable attachment


Fig. 3.3 Type 1: Through hole


Fig. 3.4 Type 2: Conical socket

3.2.2. Design Primitives MYO-Bones


Fig. 3.5 Type 1: Parallel Assemblies - Four Round Tubes Fibres


Fig. 3.6 Accessories


Fig. 3.7 Type 2: Monolithic core - T-slot profile


Fig. 3.8 Accessories MYO-Joints


Fig. 3.9 Type 1: Symmetric Hinge


Fig. 3.10 Type 2: Asymmetric Hinge


Fig. 3.11 Type 2: Revised Asymmetric Hinge


Fig. 3.12 Type 3: Pivot


Fig. 3.13 Type 4: Hinge-Pivot


Fig. 3.14 Type 5: Hinge-Hinge MYO-Muscles


Fig. 3.15 Type 0: Passive Muscle - Simple spring


Fig. 3.16 Type 1: Unilateral Series Elastic Actuator - Compression spring MYO-Ganglion


Fig. 3.17 Type 1: ECU with FlexRay bus