Back to results
US 10,144,464 B1Granted
Energy efficient robot
AssigneeNational Technology & Engineering Solutions of Sandia, LLC
InventorsStephen Buerger, Clinton G. Hobart, Curt M. Salisbury, Steven J. Spencer, Anirban Mazumdar, Michael Kuehl, Kevin J. Dullea
Life of this patent
Estimating the term…
Abstract
A locomotion subassembly for a biped robot is disclosed. The locomotion subassembly includes several unique energy transfer mechanisms and arrangements for efficiently powering the motion of the robot.
Claims20
A robot, comprising:
- a locomotion subassembly comprising:
- at least one speed reducing transmission system, comprising:
- a bobbin coupled to a motor;
- a pulley;
- a first cable coupling the bobbin to the pulley such that when the bobbin is rotated, the first cable rotates the pulley in a first direction, and
- a second cable coupling the bobbin the pulley, such that when the bobbin is rotated, the second cable rotates the pulley in a second direction opposite the rotation in the first direction urged by the first cable;
- wherein the bobbin comprises grooves for winding the first and second cables thereupon;
- wherein the locomotion subassembly further comprises:
- a hip adduction spring in parallel with a hip drive system.
6 more elements
A robot, comprising:
- a locomotion subassembly comprising:
- a 4-bar transmission subassembly comprising:
- a drive pulley;
- an output rotating link coupled to the drive pulley;
- an intermediate rotating link coupled to the output rotating link;
- an input rotating link coupled to the intermediate rotating link;
- and
- a pulley subassembly coupled to the input rotating link;
- wherein the pulley subassembly is coupled to a speed reducing transmission system.
6 more elements
A system, comprising:
- a speed reducing transmission system comprising:
- a bobbin coupled to a motor;
- a pulley;
- a first cable coupling the bobbin to the pulley such that when the bobbin is rotated, the first cable rotates the pulley in a first direction, and
- a second cable coupling the bobbin the pulley, such that when the bobbin is rotated, the second cable rotates the pulley in a second direction opposite the rotation in the first direction urged by the first cable;
- wherein the bobbin comprises grooves for winding the first and second cables thereupon;
- and
- a locomotion subassembly comprising:
- a 4-bar transmission subassembly comprising:
- a drive pulley;
- an output rotating link coupled to the drive pulley;
- an intermediate rotating link coupled to the output rotating link;
- an input rotating link coupled to the intermediate rotating link;
- and
- a pulley subassembly coupled to the input rotating link;
- wherein the pulley subassembly is coupled to the speed reducing transmission system.
13 more elements
Dependencies are inferred from the claim text.