Torsional series elastic actuator
AssigneeRoboligent, Inc.
InventorsBongsu Kim, James Douglas DeBacker, Jr.
Life of this patent
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Abstract
A spring assembly for a rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link.
Claims20
A spring assembly for a rotary series elastic actuator comprising:
- a first torsional spring including a first set of elastically deformable spirals, a first circular inner mount, and a first circular outer mount;
- a second torsional spring including a second set of elastically deformable spirals a second circular inner mount, and a second circular outer mount, the first circular outer mount coupled to the second circular out mount via a spacer;
- an internal mechanism residing between the first torsional spring and the second torsional spring, the internal mechanism including a sensor to detect a rotational deflection of the spring assembly and provide the rotational deflection as a measured torque input value to a motor controller;
- and
- wherein and each of the first set of elastically deformable spirals includes an inner thick segment coupled to the first circular inner mount, an outer thick segment coupled to the first circular outer mount, and a middle thin section connected between the inner thick segment and the outer thick segment.
A spring assembly comprising:
- two or more torsional springs, individual torsional springs including a set of elastically deformable spirals, a circular inner mount, and a circular outer mount, individual deformable spirals of the set of elastically deformable spirals including an inner thick segment coupled to the first circular inner mount, an outer thick segment coupled to the first circular outer mount, and a middle thin section connected between the inner thick segment and the outer thick segment;
- an internal mechanism residing between the two or more torsional springs;
- a sensor coupled to the internal mechanism to detect a rotational deflection of the spring assembly;
- and
- wherein the spring assembly is positioned between a motor and an output of an actuator and the output is rigidly coupled to a next link.
A spring assembly for a rotary series elastic actuator comprising:
- a first torsional spring including a first set of elastically deformable spirals, a first circular inner mount, and a first circular outer mount and wherein individual ones of the first set of elastically deformable spirals includes a first inner thick segment coupled to the first circular inner mount, a first outer thick segment coupled to the first circular outer mount, and a first middle thin section connected between the first inner thick segment and the first outer thick segment;
- a second torsional spring aligned concentrically with the first torsional spring, the second torsional spring including a second set of elastically deformable spirals a second circular inner mount, and a second circular outer mount, the first circular outer mount coupled to the second circular out mount via a spacer and wherein individual ones of the second set of elastically deformable spirals includes a second inner thick segment coupled to the second circular inner mount, a second outer thick segment coupled to the second circular outer mount, and a second middle thin section connected between the second inner thick segment and the second outer thick segment;
- an internal mechanism residing between the first torsional spring and the second torsional spring;
- and
- a sensor coupled to the internal mechanism, the sensor to detect a rotational deflection of the spring assembly and provide the rotational deflection as a measured torque input value to a motor controller.
Dependencies are inferred from the claim text.