Rotary series elastic actuator
US9239100B1 · kind B1 · utility
Inventors
Key dates
| Filing date | Jun 2, 2014 |
| Grant date | Jan 19, 2016 |
| Priority date | — |
| Expiry date | Jul 18, 2034 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH02K11/00
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Example embodiments may relate to a series elastic actuator (SEA). The SEA may include a motor, a transmission assembly, and an output plate that collectively form a motor housing assembly. The motor housing assembly may be supported on bearings that allow for a rotation of the motor housing assembly. The bearings may be supported on a housing of the SEA that may be connected to a robot link. Springs may be connected between the housing and the transmission assembly. The springs may be connected such that friction is reduced between the balls and races of the bearings. A sensor may be configured to measure a rotary deflection of the transmission assembly. A string may be wrapped around a rotary shaft of the sensor and ends of the string may be attached to the transmission assembly such that a rotation of the transmission assembly causes a rotation of the rotary shaft.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.