Actuator apparatus
AssigneeIuvo S.R.L.
InventorsLorenzo SACCARES, Matteo MOISE, Giacomo GIUSFREDI, Marco MUSCOLO, Francesco GIOVACCHINI
Life of this patent
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Abstract
An actuation unit is designed as a series elastic actuator having a brushless motor which transmits rotation and torque at the output shaft of the actuation apparatus through a gearbox. One or more torsional springs connect the motor and the gearbox to the actuation apparatus frame. The reaction torques generated by the gearbox and the motor induce a deformation of the torsional spring. The deformation is then read by a rotary encoder module that allows for computing the torque generated by the actuation apparatus.
Claims21
-20. (canceled)
An actuator apparatus comprising:
- a gearbox based on a harmonic drive;
- a motor for transmitting rotation and torque at an output shaft through the gearbox to support a mechanical load;
- and
- a first torsional spring connecting the motor and the gearbox to a frame.
An actuator apparatus comprising:
- a gearbox based on a harmonic drive;
- a motor for transmitting rotation and torque through the gearbox to support a mechanical load;
- a first torsional spring and a second torsional spring connected in series to connect the motor and the gearbox to a frame;
- and
- an encoder module.
An actuator apparatus comprising:
- a gearbox based on a harmonic drive;
- a motor for transmitting rotation and torque through the gearbox to support a mechanical load;
- and
- a first torsional spring connected in series with parallel second and third torsional springs and connected in series with the motor and the gearbox to a frame.
Dependencies are inferred from the claim text.