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US 2025/0276748 A1Published application
Robotic Muscle Device and Method of Actuation
AssigneeSpike Dynamics
InventorALEXANDER SERGEEV
Life of this patent
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Abstract
An actuated or mobile device such as a mobile robot or robotic muscle is provided, wherein mobility may be enabled by means of novel models of inchworm actuator optimized to produce different varieties of motion, such as inching along different varieties of rail(s) or track(s) or extending and collapsing a paddle on a wheel. The various novel models of inchworm actuator further vary in step length, correlation of device state to power state, and other design aspects.
Claims20
An apparatus comprising:
- a piezoelectric element having a rooted end and an extending end, the piezoelectric element configured to extend the extending end along an axis and away from the rooted end when energized;
- a lever assembly comprising a lever arm a fulcrum zone, the lever coupled with the extended end at an inner lever end and with a leg at an opposing outer lever end, wherein the fulcrum zone is configured to enable transfer of mechanical force received from the piezoelectric element extending end to cause displacement of the outer lever end and the leg.
An apparatus comprising:
- a piezoelectric element having a rooted end and an extending end, the piezoelectric element configured to extend the extending end along an axis and away from the rooted end when energized;
- a first lever assembly comprising a first lever arm a first fulcrum zone, the first lever coupled with the extended end at a first inner lever end and with a first leg at an first opposing lever end, wherein the first fulcrum zone is configured to enable transfer of mechanical force received from the piezoelectric element extending end to cause displacement of the first outer lever end and the first leg;
- and
- a second lever assembly comprising a second lever arm a second fulcrum zone, the second lever coupled with the extended end at a second inner lever end and with a second leg at an second opposing lever end, wherein the second fulcrum zone is configured to enable transfer of mechanical force received from the piezoelectric element extending end to cause displacement of the second outer lever end and the second leg.
1 more element
A method comprising:
- a. positioning a device between a first surface and an opposing second surface, the device comprising:
- i. a piezoelectric element having a frame, a rooted end and an extending end, the piezoelectric element configured to extend the extending end along an axis and away from the rooted end when energized;
- ii. a first lever assembly comprising a first lever arm a first fulcrum zone, the first lever coupled with the extended end at a first inner lever end and with a first leg at an first opposing lever end, wherein the first fulcrum zone is configured to enable transfer of mechanical force received from the piezoelectric element extending end to cause displacement of the first outer lever end and the first leg;
- and
- iii. a second lever assembly comprising a second lever arm a second fulcrum zone, the second lever coupled with the extended end at a second inner lever end and with a second leg at an second opposing lever end, wherein the second fulcrum zone is configured to enable transfer of mechanical force received from the piezoelectric element extending end to cause displacement of the second outer lever end and the second leg;
- and
- b. energizing the piezoelectric element to cause the piezoelectric element to extend, whereby both the first leg and the second leg are displaced.
4 more elements
Dependencies are inferred from the claim text.