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AssigneeConsejo Superior de Investigaciones Cientificas
InventorsTheodore Akinfiev, Manuel Armada Rodríguez, Roemi Emilia Fernández Saavedra
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The invention relates to an actuator which is characterized in that the kinematic connection between the motor and the working element of the robot comprises a mobile link which is pivot fixed to the base of the actuator, a runner which is mounted to the mobile link and which may slide radially along the length thereof and a lever arm which is kinematically connected to the motor and which is hinge-connected to the runner by means of a pin. In this way, the rotation axes of the mobile link, the lever arm and the pin are parallel and said mobile link is kinematically connected to the working element. The distance between the lines that run alongside the rotation axis of the mobile link and the rotation axis of the lever arm may be greater or smaller than the length of the lever arm.
Actuator of a working element, mainly a walking robot, that has a control system, a base of the actuator with a motor fastened thereto, connected to the control system and kinematically connected to the working element, wherein the kinematic connection between the motor and the working element of the robot has a mobile link, fastened to the base of the actuator with the possibility of rotating, a runner placed on the mobile link with the possibility of sliding radially along the entire mobile link, a lever arm kinematically connected to the motor, hinge-connected by a pin to the runner, in such a way that the rotation axis of the mobile link, the rotation axis of the lever arm and the rotation axis of the pin are parallel, and the mobile link is kinematically connected to the working element.
Dependencies are inferred from the claim text.