Robot Manipulator with Modular Torque Controlled Link

摘要

An example torque controlled actuator includes a frame, and one or more timing belt stages coupled in serial on the frame. The timing belt stages include an input stage for coupling to a motor and an output stage for coupling to a load, and the timing belt stages couple rotation of the motor to rotation of an output of the output stage. The torque controlled actuator also includes one or more belt idlers coupled to the frame that contact a timing belt of the output stage, and a strain gauge coupled to the frame to determine a tension of the timing belt of the output stage based on force applied by the timing belt of the output stage to the one or more belt idlers.

主权项

1. An actuator system comprising:
multiple torque controlled actuators arranged side-by-side, wherein a given torque controlled actuator comprises one or more timing belt stages coupled in serial including an input stage for coupling to a motor and an output stage for coupling to a load, wherein the one or more timing belt stages couple rotation of the motor to rotation of an output of the output stage; a common frame to couple the multiple torque controlled actuators in the side-by-side arrangement; and a differential coupled to outputs of the multiple torque controlled actuators to create a multiple degree of freedom (DOF) actuated joint.