Soft actuator, its working method and robot
AssigneeShandong University
InventorsKai Guo, Yuan Lu, Jie Sun
Life of this patent
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Abstract
A soft actuator includes a power input shaft, and multiple electromagnetic clutches are coaxially installed in series on the power input shaft. A bending elastic part is arranged between the thrust plate of each electromagnetic clutch and the gear frame of the electromagnetic clutch. The bending elastic part is installed on the sleeve of the gear frame and in contact with the baffle of the gear frame. The bending elastic part is connected with the clutch output gear of the electromagnetic clutch through the gear frame. The gear frame is fixedly connected with the clutch output gear and rotates coaxially.
Claims19
A soft actuator, comprising:
- a power input shaft,
- wherein a plurality of electromagnetic clutches are coaxially connected in series to the power input shaft,
- wherein each electromagnetic clutch of the plurality of electromagnetic clutches comprises a bending elastic part arranged between a thrust plate and an electromagnetic clutch gear frame comprising arc sleeves,
- each of the bending elastic parts is installed on and surrounding the arc sleeves of the electromagnetic clutch gear frame and contacts with a baffle of the electromagnetic clutch gear frame,
- each bending elastic part is connected with a clutch output gear of each of the plurality of electromagnetic clutches through the electromagnetic clutch gear frame,
- the electromagnetic clutch gear frame is fixedly connected with the clutch output gear and rotates coaxially;
- and
- each bending elastic part added to the soft actuator is configured to realize different stiffness adjustments of the soft actuator through different combinations of power-on states of each electromagnetic clutch.
Dependencies are inferred from the claim text.