-
公开(公告)号：US11035743B2
公开(公告)日：2021-06-15
申请号：US16297205
申请日：2019-03-08
申请人： Apptronik, Inc.
发明人： Nicholas Paine , Jonas Fox , Bradley Resh
摘要： Embodiments of a series elastic actuator (SEA) disclosed herein include an elastic component coupled in series with a motor, wherein the elastic component comprises a pair of springs arranged concentrically around a central shaft of the housing for transmitting force to a mechanical ground of the SEA, and one or more spring support mechanisms arranged within an inner circumference of the springs. Some embodiments of the SEA may also include a spring deflection sensor, which is coupled within a recess formed within the mechanical ground of the SEA and configured to sense the force transmitted to the mechanical ground of the SEA.
-
公开(公告)号：US20230390920A1
公开(公告)日：2023-12-07
申请号：US18330706
申请日：2023-06-07
申请人： APPTRONIK, INC.
CPC分类号： B25J9/1005 , B25J9/06 , B25J9/1065 , B25J9/126 , B25J13/085 , B25J19/0016 , F16H21/44 , B25J15/00
摘要： A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.
-
公开(公告)号：US11691269B2
公开(公告)日：2023-07-04
申请号：US17290554
申请日：2019-10-30
申请人： APPTRONIK, INC.
CPC分类号： B25J9/1005 , B25J9/06 , B25J9/1065 , B25J9/126 , B25J13/085 , B25J19/0016 , F16H21/44 , B25J15/00
摘要： A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.
-
公开(公告)号：US20210347039A1
公开(公告)日：2021-11-11
申请号：US17290554
申请日：2019-10-30
申请人： APPTRONIK, INC.
摘要： A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.
-
公开(公告)号：US20190277712A1
公开(公告)日：2019-09-12
申请号：US16297205
申请日：2019-03-08
申请人： Apptronik, Inc.
发明人： Nicholas Paine , Jonas Fox , Bradley Resh
摘要： Embodiments of a series elastic actuator (SEA) disclosed herein include an elastic component coupled in series with a motor, wherein the elastic component comprises a pair of springs arranged concentrically around a central shaft of the housing for transmitting force to a mechanical ground of the SEA, and one or more spring support mechanisms arranged within an inner circumference of the springs. Some embodiments of the SEA may also include a spring deflection sensor, which is coupled within a recess formed within the mechanical ground of the SEA and configured to sense the force transmitted to the mechanical ground of the SEA.
-
-
-
-
搜索结果
5 条记录 (耗时 0.015 秒)
