公开(公告)号：US10072744B2

公开(公告)日：2018-09-11

申请号：US13800851

申请日：2013-03-13

Applicant: Sarcos LC

Inventor： Fraser M. Smith ,  Shane Olsen ,  Michael Morrison ,  Glenn Colvin, Jr. ,  Brian Maclean ,  Alan Hart

IPC: F16H21/00 ,  F16H21/44 ,  F15B15/06 ,  B25J9/10

CPC classification number: F16H21/44 ,  B25J9/106 ,  F15B15/06 ,  Y10T29/49826 ,  Y10T74/1892

Abstract: A rotary actuation mechanism comprising an actuator having a body, and a slider movable on a linear path relative to the body. A first linkage can be pivotally coupled to the body at a first pivot having a first axis. A second linkage can be pivotally coupled to the slider at a second pivot having a second axis, and pivotally coupled to the first linkage at a third pivot. A length of the first linkage between the first pivot and the third pivot can be equal to a length of the second linkage between the second pivot and the third pivot. The slider can be movable to position the second axis in a collinear relationship with the first axis. The rotary actuation mechanism can include an anti-singularity device to constrain movement of the body when the first axis and the second axis are in the collinear relationship.