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US 7,769,488 B2Granted
Reconfigurable structure
AssigneeThe United States of America as represented by the Administrator of the National Aeronautics and Space Administration
InventorSteven A. Curtis
Life of this patent
Estimating the term…
Abstract
A reconfigurable structure includes a plurality of selectively extensible and retractable limbs, at least one node pivotably receiving respective ends of at least two limbs, and an actuator associated with each limb for extending and retracting the limb. The structure may further include an addressable module associated with each actuator to control the actuator.
Claims57
A reconfigurable structure, comprising:
- a plurality of selectively extensible and retractable limbs;
- a plurality of nodes each pivotably receiving respective ends of at least two of said plurality of selectively extensible and retractable limbs;
- and
- a plurality of actuators each associated with a corresponding one of each and every limb for extending and retracting the limb;
- wherein at least one of said plurality of selectively extensible and retractable limbs is pivotally received by a corresponding one of said plurality of nodes at opposite ends thereof;
- wherein
- the plurality of limbs and the at least one node form at least one three dimensional shape changing polyhedral frame including at least six limbs connected by at least three nodes thereby forming four faces;
- and wherein said at least one three dimensional shape changing polyhedral frame is void of a fixed length connection between any two of said at least three nodes.
5 more elements
A reconfigurable structure, comprising:
- a plurality of limbs each and every one of said limbs being selectively extensible and retractable;
- at least one node pivotably receiving respective ends of at least two of said plurality of limbs;
- and an actuator associated with said each and every one of said limbs for extending and retracting the limb;
- wherein the actuator associated with each limb comprises a motor;
- and the plurality of limbs and the at least one node form a three dimensional shape changing polyhedral frame including at least six limbs connected by at least three nodes thereby forming four faces;
- and wherein said at least one three dimensional shape changing polyhedral frame is void of a fixed length connection between any two of said at least three nodes.
3 more elements
A reconfigurable structure, comprising:
- a plurality of selectively extensible and retractable limbs;
- at least one node pivotably receiving respective ends of at least two limbs;
- and
- an actuator associated with each limb for extending and retracting the limb wherein each limb comprises a telescoping shaft;
- and
- wherein each actuator comprises:
- a first cable element engaging each section of the shaft;
- a second cable element connected to a distal section of the shaft;
- a pulley for storing a portion of the cable elements;
- and a motor for operating the pulley, wherein operation of the motor in a first direction places tension on the first cable element and extends the shaft, and operation of the motor in a second direction places tension on the second cable element and retracts the shaft;
- and
- wherein the plurality of retractable limbs and the at least one node form a three dimensional shape changing polyhedral frame including at least six limbs connected by at least three nodes thereby forming four faces;
- and wherein said at least one three dimensional shape changing polyhedral frame is void of a fixed length connection between any two of said at least three nodes.
10 more elements
A reconfigurable structure, comprising:
- a plurality of selectively extensible and retractable limbs;
- at least one node pivotably receiving respective ends of at least two limbs;
- and
- an actuator associated with each limb for extending and retracting the limb wherein each limb comprises a telescoping shaft;
- and
- wherein each actuator comprises:
- a spring element biasing the shaft to an extended position;
- a cable element connected to a distal section of the shaft;
- a pulley for storing a portion of the cable element;
- and a motor for operating the pulley, wherein operation of the motor in a first direction releases a portion of the cable element from the pulley and allows the shaft to extend under the force of the spring, and operation of the motor in a second direction places tension on the cable element and retracts the shaft;
- and
- wherein the plurality of retractable limbs and the at least one node form a three dimensional shape changing polyhedral frame including at least six limbs connected by at least three nodes thereby forming four faces;
- and wherein said at least one three dimensional shape changing polyhedral frame is void of a fixed length connection between any two of said at least three nodes.
10 more elements
A reconfigurable structure, comprising:
- a plurality of nodes;
- a plurality of selectively extensible and retractable limbs, each limb having a first end and a second end pivotably received by respective nodes;
- an actuator associated with each limb for extending and retracting the limb;
- and
- an addressable module associated with each actuator to control the actuator and
- wherein the plurality of selectively extensible and retractable limbs and the plurality of nodes form a three dimensional shape changing polyhedral frame including at least six limbs connected by at least three nodes thereby forming four faces;
- and wherein said at least one three dimensional shape changing polyhedral frame is void of a fixed length connection between any two of said plurality of nodes.
4 more elements
A reconfigurable structure, comprising:
- a polyhedral frame, comprising:
- a plurality of selectively extensible and retractable limbs;
- a plurality of nodes, each node pivotably receiving respective ends of at least two limbs;
- a motor having an actuator associated with each limb for extending and retracting the limb;
- and
- an addressable module associated with each actuator to control the motor;
- and
- wherein the plurality of selectively extensible and retractable limbs and the plurality of nodes form a three dimensional shape changing polyhedral frame including at least six limbs connected by at least three nodes thereby forming four faces;
- and wherein said at least one three dimensional shape changing polyhedral frame is void of a fixed length connection between any two of said plurality of nodes.
6 more elements
Dependencies are inferred from the claim text.