Variable stiffness mechanism
AssigneeBoard of Regents of the University of Nebraska
InventorsCarl Nelson, Nick Swerczek
Life of this patent
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Abstract
A variable stiffness mechanism for robotic applications. A robotic arm segment comprising two bodies pivotably coupled together at one end and having a generally elongate form factor. A spring-loaded carriage moves longitudinally along one of the two bodies and is in contact with the other body, such that the effective rotational stiffness of the pin joint is equal to the stiffness of the carriage spring multiplied by the distance between the pin joint and the spring. The distance between the pin joint and the spring can be varied using a motor and belt drive arrangement. A stopper may be coupled to the belt drive to lock the relative motion of the two bodies.
Claims20
A variable stiffness mechanism for robotic applications, the variable stiffness mechanism comprising:
- (a) an outer link, the outer link comprising a proximal member and two elongate arms extending distally from the proximal member;
- (b) an inner link having a proximal end and a distal end, the proximal end pivotably coupled to the proximal member of the outer link at a pivot joint, an elongate portion of the inner link operably suspended between the two elongate arms of the outer link;
- (c) a spring disposed between the two elongate arms and in operable contact with the two elongate arms;
- and
- (d) a carriage coupled to the spring and to the inner link, the carriage configured to move along a length of the inner link to change a position of the spring relative to the pivot joint.
A variable stiffness mechanism for robotic applications, the variable stiffness mechanism comprising:
- (a) a first link, the first link comprising a proximal member and a first elongate arm extending distally from the proximal member;
- (b) a second link, the second link comprising a second elongate arm having a proximal end and a distal end, the proximal end pivotably coupled to the proximal member of the first link at a pivot joint, the second elongate arm of the second link operably suspended adjacent the first elongate arm of the first link in a generally parallel configuration;
- and
- (c) a spring disposed between the first elongate arm and the second elongate arm, the spring being in operable contact with the first elongate arm and the second elongate arm, the spring being configured to move along a length of the second link to change a distance of the spring from the pivot joint.
A variable stiffness mechanism for robotic applications, the variable stiffness mechanism comprising:
- (a) a first link, the first link comprising a first elongate arm extending distally from a proximal end of the first link;
- (b) a second link, the second link comprising a second elongate arm having a proximal end and a distal end, the proximal end pivotably coupled to the proximal end of the first link at a pivot joint, the second elongate arm of the second link operably suspended adjacent the first elongate arm of the first link in a generally parallel configuration;
- and
- (c) a spring disposed between the first elongate arm and the second elongate arm, the spring being in operable contact with the first elongate arm and the second elongate arm, the spring being configured to move along a length of the second link to change a distance of the spring from the pivot joint.
Dependencies are inferred from the claim text.