Reaction sensing torque actuator
US5327790A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 19, 1992 |
| Grant date | Jul 12, 1994 |
| Priority date | — |
| Expiry date | Jun 19, 2012 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH02K29/06
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A reaction torque actuator has a sensor operatively coupled between a motor housing and an outer housing. A pair of bearings support the motor within the outer housing in a spaced, concentric relationship. The bearings allow a mutual angular displacement of the housing about the axis of rotation of the output shaft of the motor, but they isolate the sensor from the axial and radial moments. A resolver surrounds the shaft at its output end to produce a signal that accurately measures the angular position of the shaft. A controller regulates power to the motor windings as a function of signals from the resolver and the sensor and torque commands. In a preferred form for use in robotics where very accurate force control is desired, the motor: is a brushless D.C. motor, the sensor is of the strain gauge type, and the controller uses high quality amplifiers, sine wave commutation, cable shielding, and filtering to limit the noise generated by electronic switching.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.