Motion system with plurality of stewart platform based actuators
AssigneeSOC Robotics Inc.
InventorsStephen Glen Swift, Michael Peter McCrodan, Siamak Arzanpour, Sohell Sadeqi
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Abstract
Examples of a motion system are disclosed. The motion system comprises a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration. Each of the plurality of actuators is controlled by a central controller that is configured to independently control the plurality actuators and adjust in real time their position, orientation and motion trajectory. The plurality of actuators are arranged in the desired configuration, shape and size to provide motion system that can mimic a natural motion/gait of human or animal body.
Claims25
A motion system comprising:
- a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration;
- and
- a central controller configured to independently control the plurality of actuators to adjust in real time their position, orientation and motion trajectory.
A reinforced actuator comprising:
- a Stewart platform having a base plate, an upper plate, a plurality of adjustable legs pivotally connected to the upper plate and the base plate and a driver in communication with the plurality of legs;
- a damper rotatably connected to the upper plate and the base plate of the Stewart platform to reinforced the Stewart platform, the damper having a driver in communication to the damper to adjust damper's stiffness in real-time;
- and
- a controller in communication with the driver of the legs and the driver of the damper, the controller comprising a processing unit to calculate a position, orientation and a motion trajectory of the plurality of legs and adjust in real time the length, orientation and the trajectory of the plurality of legs and the stiffness of the damper.
Dependencies are inferred from the claim text.