发明授权
US06870343B2 Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness
失效
集成，比例控制和自然符合的万向节致动器，具有可控制的刚度
- 专利标题： Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness
- 专利标题（中）： 集成，比例控制和自然符合的万向节致动器，具有可控制的刚度
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申请号： US10672290申请日： 2003-09-26
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公开(公告)号： US06870343B2公开(公告)日： 2005-03-22
- 发明人: Johann Borenstein , Grzegorz Granosik
- 申请人： Johann Borenstein , Grzegorz Granosik
- 申请人地址： US MI Ann Arbor
- 专利权人： The University of Michigan
- 当前专利权人： The University of Michigan
- 当前专利权人地址： US MI Ann Arbor
- 代理机构： Harness, Dickey & Pierce, P.L.C.
- 主分类号： B25J9/08
- IPC分类号： B25J9/08 ; B25J9/16 ; B62D57/02 ; B25J19/02
摘要：
An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.
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