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.
Claims20
A motion system comprising:
- a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration, the plurality of Stewart platform actuators comprising an upper plate, a base plate, a plurality of kinematic legs pivotally connected to the base plate and the upper plate extending therein between and at least one driver in communication with the plurality of kinematic legs configured to independently drive each of the plurality of kinematic legs to change length, orientation and/or speed of the legs, wherein a coordinated drive of the plurality of legs moves one of the plate within six degrees of freedom relative to the other plate;
- and
- a central controller having an input unit, a processing unit and an output unit and being in communication with the at least one driver of each of the plurality of actuators to independently control length, orientation and/or speed of each of the plurality of kinematic legs of each of the plurality of actuators to adjust a segmental orientation and position of each of the plurality of actuators.
A reinforced Stewart platform actuator comprising:
- an upper plate;
- a base plate;
- a plurality of kinematic legs pivotally connected to the base plate and the upper plate extending therein between;
- at least one driver in communication with the plurality of kinematic legs and configured to independently drive each of the plurality of kinematic legs to change length, orientation and/or speed of the legs, wherein coordinated drive of the plurality of legs moves one of the plates within six degrees of freedom relative to the other plate;
- a damper rotatably connected to the upper plate and the base plate to reinforced the actuator, 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 kinematic legs and the driver of the damper, the controller comprising a processing unit programmed to adjust in real time a length, orientation and trajectory of the plurality of kinematic legs and a stiffness of the damper based on a received input data.
Dependencies are inferred from the claim text.