Variable spring constant torque coupler

A torque coupler for coupling a first member and a second member, said torque coupler comprising:

• a first torque plate configured to attach to the first member, the first torque plate having a plurality of first slots extending in radial directions;
• a second torque plate configured to attach to the second member, the second torque plate having a plurality of second slots extending in directions corresponding to the plurality of first slots, the plurality of second slots each having at least one side formed of a flexible beam;
• a cam plate pivotable about an axis, the cam plate having a plurality of cam slots each extending outwardly from the axis from a first location at a first radial distance to a second location at a second radial distance from the axis;
• a plurality of torque transfer members each being slidably received within a respective first slot of the plurality of first slots, a respective second slot of the plurality of second slots, and a respective cam slot of the plurality of cam slots, the plurality of torque transfer members being configured to transfer torque between the first torque plate and the second torque plate;
• and
• a drive device configured to rotate the cam plate about the axis,
• wherein rotation of the cam plate about the axis causes the plurality of cam slots to radially slide the torque transfer members along respective flexible beams.

A method of torque coupling using a torque coupler for coupling a first member and a second member, the method comprising:

• providing a first torque plate of the torque coupler, the first torque plate being configured to attach to the first member, the first torque plate having a plurality of first slots extending in radial directions;
• providing a second torque plate of the torque coupler, the second torque plate being configured to attach to the second member, the second torque plate having a plurality of second slots extending in directions corresponding to the plurality of first slots, the plurality of second slots each having at least one side formed of a flexible beam;
• providing a cam plate of the torque coupler, the cam plate being pivotable about an axis, the cam plate having a plurality of cam slots each extending outwardly from the axis from a first location at a first radial distance to a second location at a second radial distance from the axis;
• providing a plurality of torque transfer members of the torque coupler, the plurality of torque transfer members each being slidably received within a respective first slot of the plurality of first slots, a respective second slot of the plurality of second slots, and a respective cam slot of the plurality of cam slots, the plurality of torque transfer members being configured to transfer torque between the first torque plate and the second torque plate;
• and
• driving the cam plate in rotation about the axis to cause the plurality of cam slots to radially slide the torque transfer members along respective first flexible beams to vary a stiffness value of the torque coupler when transferring torque between the first torque plate and the second torque plate.