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US 12,007,009 B2Granted
Harmonic drive actuator gearhead
AssigneeThe Johns Hopkins University
InventorsDan Stoianovici, Doru Petrisor
Life of this patent
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Abstract
A novel way of mounting a harmonic drive gearhead to a cylindrically shaped motor reduces the overall size of the actuator assembly. Specifically, the motor is mounted within the harmonic drive and its bearings, a space that is typically occupied by a harmonic drive component. This is made possible by redesigning the harmonic drive such that it is able to surround the motor and provide for a compact footprint for the actuator assembly.
Claims20
A device assembly comprising:
- a motor;
- a gearhead actuator assembly, wherein the gearhead actuator assembly includes a static component and an output component;
- a wave generator shaft, and,
- wherein the gearhead actuator assembly is configured for the motor to sit in a space defined by the static component and the output component, and wherein the wave generator shaft comprises a thin, tubular shape over the motor.
1 more element
A harmonic gearhead assembly comprising:
- a motor;
- a static component;
- an output component operatively coupled to the motor, such that an action of the motor generates a corresponding action of the output component;
- a wave generator shaft, and,
- wherein the static component and the output component are arranged to define a space in which the motor is disposed, and wherein the wave generator shaft comprises a thin, tubular shape over the motor.
2 more elements
Dependencies are inferred from the claim text.