Flexure elements for series elastic actuators and related methods

A technology of bending elements and actuators, applied in the direction of instruments, program control manipulators, joints, etc., can solve problems such as permanent deformation, non-uniform distribution, fatigue failure, etc.

Active Publication Date: 2014-12-24
RETHINK ROBOTICS +2
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  • Summary
  • Abstract
  • Description
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Problems solved by technology

But these elements are often expensive to manufacture and the forces applied can be non-uniformly distributed across them, leading to permanent deformation or fatigue failure of multiple parts of the element
[0007] Therefore, it remains a challenge to design such a compliant serial elastic actuator (SEA) that is cheap to manufacture, has limited energy loss (e.g. due to friction) and achieves desired stiffness and detectable positional deflection. optimal balance between curvatures while not exceeding the fatigue limit (or linear force range) of the material

Method used

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  • Flexure elements for series elastic actuators and related methods
  • Flexure elements for series elastic actuators and related methods
  • Flexure elements for series elastic actuators and related methods

Examples

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Embodiment Construction

[0020] See you again figure 1 , which shows a robotic actuator 100 having a motor 102 , a gearbox 104 , a compliant element such as a series elastic actuator (SEA) 106 and an output load 108 coupled in series. Gearbox 104 is configured to transfer motion from associated motor 102 to motion of output load 108 through compliant element 106 . The load 108 may be any suitable load such as a robot link or joint. The positional deflection of compliant element 106 may be measured by position sensor 110 . If the stiffness constant (eg, spring constant or Young's modulus) is known, the force / torque applied by the motor 102 can be determined. A force / torque feedback loop 112 may be employed such that the desired force / torque is generated by the motor 102 and transmitted via the compliant element 106 .

[0021] Figure 2A Depicted is a portion 200 of a robotic system comprising a flexure joint 210 according to an embodiment of the invention. In the illustrated construction, gearbox...

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Abstract

An arcuate metal element for detecting a rotary force and generating a deformation in response thereto is applied to an actuator for a robotic system. Embodiments are related in particular to series elastic actuators (SEAs).

Description

[0001] related application [0002] This application claims the benefit of and priority to US Patent Application No. US 13 / 446,564, filed April 13, 2012, the entire disclosure of which is hereby incorporated by reference. field of invention [0003] Embodiments of the present invention relate generally to series elastic actuators (SEAs), and more particularly to series elastic actuators (SEAs) that are inexpensive to manufacture and minimize energy loss during robotic operation. Background technique [0004] Robots are designed to manipulate objects and interact with the environment. Safely detecting and controlling forces applied by robotic actuators to robotic components and / or the environment avoids unnecessary hazards. Traditionally, rigid actuators have been used to generate large forces / torques that can be measured by force sensors. But the force exerted by a rigid actuator is difficult to measure precisely: a small error in the deflection detected by the sensor can...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J17/00
CPCB25J13/085B25J9/1633B25J17/00G01L25/00
Inventor 约西亚·罗斯玛琳本·波克维茨
Owner RETHINK ROBOTICS
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