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US 9,222,559 B2Granted
Elastic motor-spring actuator
AssigneeArizona Board of Regents acting for and on behalf of Northern Arizona University
InventorsKiisa Nishikawa, Theodore A. Uyeno
Life of this patent
Estimating the term…
Abstract
An actuator according to one embodiment of the present invention may include a fixed member and a free member. The free member is operatively engaged with the fixed member so that the free member is moveable with respect to the fixed member. The actuator also includes means for moving the free member with respect to the fixed member. An elastic element operatively associated with the free member and the fixed member is operable to store energy without a change in an overall length of the actuator.
Claims18
An actuator, comprising:
- a fixed member;
- a free member operatively engaged with said fixed member so that said free member is moveable with respect to said fixed member;
- a connector member, said connector member engaging said fixed member and said free member so that said connector member is moveable with respect to said fixed member and said free member;
- an elastic element operatively associated with said connector member and said free member, said elastic element having a variable compliance;
- and
- means for moving operatively associated with said connector member and said fixed member so that said means for moving moves said connector member with respect to said fixed member, said actuator being operable to store energy in said elastic element without a change in an overall length of said actuator, wherein said means for moving comprises a motor mounted to said fixed member;
- a lead screw mounted for rotation to said fixed member and operatively connected to said motor so that said motor can rotate said lead screw;
- and a nut mounted to said connector member and operatively engaged with said lead screw, rotation of said lead screw causing said connector member to move with respect to said fixed member.
5 more elements
An actuator, comprising:
- a fixed member;
- a connector member operatively engaged with said fixed member so that said connector member can move with respect to said fixed member;
- a free member operatively engaged with said connector member so that said free member can move with respect to said fixed member;
- a drive system operatively associated with said fixed member and said connector member, said drive system operable to move said connector member with respect to said fixed member, wherein said drive system comprises a motor mounted to said fixed member;
- a lead screw mounted for rotation to said fixed member and operatively connected to said motor so that said motor can rotate said lead screw;
- and a nut mounted to said connector member and operatively engaged with said lead screw, rotation of said lead screw causing said connector member to move with respect to said fixed member;
- and
- an elastic element having a first end and a second end, the first end of said elastic element being connected to said free member, the second end being connected to said connector member.
5 more elements
An actuator, comprising:
- a fixed member;
- a free member operatively engaged with said fixed member so that said free member is moveable with respect to said fixed member;
- a connector member operatively associated with said fixed member and said free member;
- an elastic element operatively associated with said free member and said connector member, said elastic element having a variable compliance;
- and
- a drive system operatively connected to said fixed member, said connector member, and said elastic element, said drive system changing a length of said elastic element during operation both in contraction and in extension of said actuator to store energy in said elastic element, said drive system and said elastic element applying a total force to said free member during operation both in contraction and in extension of said actuator that is a sum of a force produced by said drive system and a force produced by said elastic element, wherein said drive system comprises a motor mounted to said fixed member;
- a lead screw mounted for rotation to said fixed member and operatively connected to said motor so that said motor can rotate said lead screw;
- and a nut mounted to said connector member and operatively engaged with said lead screw, rotation of said lead screw causing said connector member to move with respect to said fixed member.
5 more elements
Dependencies are inferred from the claim text.