公开(公告)号：US20180194000A1

公开(公告)日：2018-07-12

申请号：US15810119

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Brian J. Maclean ,  Michael Myers

IPC: B25J9/00 ,  A61F2/64 ,  B25J13/08 ,  A61F2/68

Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device. The valve assembly defines, at least in part, a shunt circuit that facilitates fluid flow between the compression and expansion chambers through the valve assembly.

公开(公告)号：US20180133905A1

公开(公告)日：2018-05-17

申请号：US15810101

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J19/00 ,  F16D13/52 ,  F16D48/02 ,  F16D23/12 ,  F16D25/0638

CPC classification number: B25J19/0041 ,  B25J9/0006 ,  B25J17/0241 ,  F16D13/52 ,  F16D23/12 ,  F16D25/048 ,  F16D25/0638 ,  F16D25/14 ,  F16D28/00 ,  F16D2023/123 ,  F16H1/28

Abstract: A clutched joint module comprising an output member and an input member rotatable relative to each other about an axis of rotation; a primary actuator operable to apply a primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operable between an engaged state and a disengaged state to facilitate application of the primary torque. The clutch mechanism can comprise a plurality of plates and an actuator operable to compress the plurality of plates to cause the clutch mechanism to function in the engaged state. The actuator can be a ball-ramp clutch device. A quasi-passive elastic actuator can be coupled to the input member and can be operable, via the clutch mechanism, to release stored energy to apply an augmented torque to assist rotation of the output member. Associated methods and systems are disclosed.