Stackable Friction Clutch Torque Distribution With Rigid Coil Wraps
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Solution Overview
Problem
Existing technologies for actuating and distributing power in mechanical systems, such as automatic machines and robots, using stackable non-binding friction clutches are inefficient in providing motive power to multiple degrees of freedom in a compact, low-mass, and low-cost manner with good control fidelity, as they face issues with friction binding and require multiple heavy motors.
Innovation Solution
The use of constricting coil friction clutches made from rigid or semi-rigid materials with varying wrap widths, allowing for a single prime mover to supply power to multiple degrees of freedom through a capstan tube, with each wrap's width optimized based on the capstan equation to minimize size and maximize force transmission, and controlled by small servos for improved performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If flexible material is used for constricting coils with more than 5 wraps, then the coil can accommodate higher number of wraps for increased power output, but friction binding occurs preventing effective control
Solution Approach 1:
The patent changes the material parameter from flexible to rigid, enabling the coil to maintain structural integrity with higher wrap counts while preventing friction binding. This parameter change allows the system to achieve higher power output through increased wraps without sacrificing control fidelity.
2Power
If multiple heavy motors are used at each degree of freedom, then each degree of freedom receives adequate power, but the overall system mass and cost increase significantly
Solution Approach 1:
The patent merges multiple power sources into a single prime mover that drives a common rotating input tube. Multiple rigid coils are stacked on this single tube, combining the functions of what would otherwise require multiple separate motors. This merging dramatically reduces system mass while maintaining adequate power distribution to all degrees of freedom.
Solution Approach 2:
The single prime mover and common input tube serve multiple functions simultaneously, powering all the rigid coils that control different degrees of freedom. This multi-functional design eliminates the need for dedicated motors at each degree of freedom, reducing overall system mass and cost.
3Ease of manufacture
If uniform wrap width is used in the coil, then manufacturing is simplified, but the overall coil size increases and compactness is reduced
Solution Approach 1:
The patent applies local quality by varying the wrap width along the length of the coil. Wraps are narrower where less force is transmitted and wider where more force is required. This non-uniform distribution optimizes the coil's force transmission efficiency while minimizing its overall volume, achieving compactness without sacrificing manufacturing feasibility.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables efficient power distribution to multiple degrees of freedom, reducing the overall size and cost of mechanical systems while improving control bandwidth and reducing parasitic friction, allowing for more compact and lightweight designs with enhanced performance.
Implementation Method 1
constricting coil friction clutches made from rigid or semi-rigid materials with varying wrap widths, allowing for a single prime mover to supply power to multiple degrees of freedom through a capstan tube
Data Source
AI summary
The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.