Compact, stackable friction clutch based torque distribution device, system, and methods of use
OwnerPeter Dilworthinventor
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Abstract
The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.
Claims15
An automatic machine comprising a torque distribution system;
- and at least a first moveable part associated with a first degree of freedom;
- the torque distribution system comprising:
- a large prime mover capable of providing rotating power;
- an input capstan tube being capable of being rotated by power provided by the prime mover;
- at least one coil friction clutch axially aligned with an axis of the input capstan tube;
- at least one small control servo capable of generating small forces for providing input to the at least one coil friction clutch;
- at least one mechanical transmission cable connected to the first moveable part associated with the first degree of freedom;
- and
- a support frame for securing the large prime mover, the input capstan tube, the at least one small control servo, and the at least one coil friction clutch within the automatic machine;
- wherein the at least one coil friction clutch activating movement of the first moveable part along the associated first degree of freedom.
A torque distribution system for automatic machines having first and second pluralities of moving parts respectively associated with respective first and second pluralities of degrees of freedom;
- the torque distribution system comprising:
- a large prime mover capable of providing rotating power;
- a first input capstan tube being rotated by the prime mover in a first direction;
- a second input capstan tube being rotated by the prime mover in a second direction opposite the first direction;
- a first plurality of coil friction clutches axially aligned with a first axis of the first input capstan tube;
- a second plurality of coil friction clutches axially aligned with a second axis of the second input capstan tube;
- a first plurality of control servos, each capable of generating small forces for providing input to a respective one of each of the first plurality of coil friction clutches;
- a second plurality of control servos, each respectively capable of generating small forces for providing input to a respective one of each of the second plurality of coil friction clutches;
- a first plurality of mechanical transmission cables, each respectively connected to a respective one of the first plurality of moving parts respectively associated with a respective one of the respective first plurality of degrees of freedom;
- a second plurality of mechanical transmission cables, each respectively connected to a respective one of the second plurality of moving parts respectively associated with a respective one of the respective second plurality of degree of freedom;
- and
- a support frame for securing the large prime mover, the first and second input capstan tubes, the first and second pluralities of coil friction clutches, and the first and second pluralities of control servos.
Dependencies are inferred from the claim text.