Differential windlass robotic joint
AssigneeSchaeffler Technologies AG & Co. KG
InventorKyle DeHoff
Life of this patent
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Abstract
Two oppositely wound differential windlass mechanisms may provide rotary motion to a robotic limb. The two differential windlasses may share a differential drum. Due to the different diameters as well as the opposing winding directions, a series of pulleys may be between the differential drum and hanging pulleys to align tension elements of the differential windlass mechanisms so that the tension elements act in parallel planes. A winding drum of a lower limb is pinned to hanging pulleys via additional tension elements. Translation of the hanging pulleys via the differential windlasses cause rotation of the lower limb via the winding drum.
Claims20
A robotic limb comprising:
- a first rigid member;
- a second rigid member, wherein the second rigid member comprises a winding drum;
- a first differential windlass comprising:
- a differential drum, wherein the second rigid member and the differential drum are supported by and configured to rotate relative to the first rigid member;
- a first pair of idlers;
- a first tension element;
- and
- a first hanging pulley;
- a second differential windlass comprising:
- the differential drum;
- a second pair of idlers;
- a second tension element;
- and
- a second hanging pulley, wherein the first hanging pulley and the second hanging pulley are suspended from the differential drum by respective of the first tension element and the second tension element, wherein rotation of the differential drum causes the first hanging pulley and the second hanging pulley to translate in opposing directions via the first tension element and the second tension element;
- a third tension element;
- and
- a fourth tension element, wherein the first hanging pulley and the second hanging pulley are suspended from the winding drum by respective of the third tension element and the fourth tension element, wherein translation of the first hanging pulley and the second hanging pulley in opposing directions causes the second rigid member to rotate via the third tension element and the fourth tension element.
A robot comprising:
- a plurality of robotic limbs, wherein the plurality of robotic limbs comprise:
- a first rigid member;
- a second rigid member, wherein the second rigid member comprises a winding drum;
- a first differential windlass comprising:
- a differential drum, wherein the second rigid member and the differential drum are supported by and configured to rotate relative to the first rigid member;
- a first pair of idlers;
- a first tension element;
- and
- a first hanging pulley;
- a second differential windlass comprising:
- the differential drum;
- a second pair of idlers;
- a second tension element;
- and
- a second hanging pulley, wherein the first hanging pulley and the second hanging pulley are suspended from the differential drum by respective of the first tension element and the second tension element, wherein rotation of the differential drum causes the first hanging pulley and the second hanging pulley to translate in opposing directions via the first tension element and the second tension element;
- a third tension element;
- and
- a fourth tension element, wherein the first hanging pulley and the second hanging pulley are suspended from the winding drum by respective of the third tension element and the fourth tension element, wherein translation of the first hanging pulley and the second hanging pulley in opposing directions causes the second rigid member to rotate via the third tension element and the fourth tension element.
Dependencies are inferred from the claim text.