Grounded SEA actuator
AssigneeX Development LLC
InventorsBen Berkowitz, Seth Gilbertson, Marc Strauss
Life of this patent
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Abstract
A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.
Claims20
A system, comprising:
- a worm drive comprising a worm and a worm gear;
- an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis and the actuator is configured to move linearly along a shaft axis;
- at least one spring is configured to resist movement of the actuator along the shaft axis;
- a linear position encoder configured to:
- determine a first linear position of the actuator that drives the worm drive;
- determine a second linear position of the actuator, wherein the second linear position is different than the first linear position;
- and
- a control system configured to:
- determine a force acting on the actuator along the shaft axis based on a difference between the first linear position and the second linear position;
- and
- control the actuator based on the determined force.
A system, comprising:
- a worm drive comprising a worm and a worm gear;
- an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis and the actuator is configured to move linearly along a shaft axis;
- a first spring having a first end and a second end, wherein the second end of the first spring is fixed, and wherein the first spring is configured to resist movement of the actuator along the shaft axis in a first direction as a result of a first force transmitted through the worm drive;
- a second spring having a first end and a second end, wherein the second end of the second spring is fixed, and wherein the second spring is configured to resist movement of the actuator along the shaft axis in a second direction as a result of a second force transmitted through the worm drive, wherein the second direction is opposite the first direction;
- a linear position encoder configured to:
- determine a first linear position of the actuator that drives the worm drive;
- determine a second linear position of the actuator, wherein the second linear position is different than the first linear position;
- and
- a control system configured to:
- determine a force acting on the actuator along the shaft axis based on a difference between the first linear position and the second linear position;
- and
- control the actuator based on the determined force.
A device comprising:
- a worm drive comprising a worm and a worm gear;
- an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis and the actuator is configured to move linearly along a shaft axis;
- a first spring having a first end and a second end, wherein the second end of the first spring is fixed, and wherein the first spring is configured to resist movement of the actuator along the shaft axis in a first direction as a result of a first force transmitted through the worm drive;
- a second spring having a first end and a second end, wherein the second end of the second spring is fixed, and wherein the second spring is configured to resist movement of the actuator along the shaft axis in a second direction as a result of a second force transmitted through the worm drive, wherein the second direction is opposite the first direction;
- and
- a linear position encoder configured to:
- determine a first linear position of the actuator that drives the worm drive;
- and
- determine a second linear position of the actuator, wherein the second linear position is different than the first linear position.
Dependencies are inferred from the claim text.