Robot Actuator Utilizing a Differential Pulley Transmission

摘要

An example robot actuator utilizing a differential pulley transmission is provided. As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.

主权项

1. A differential pulley actuator comprising:
an input drive gear for coupling to a motor, wherein the input drive gear couples rotation of the motor to rotation of an output pulley; a first timing belt pulley pair and a second timing belt pulley pair coupled to the input drive gear, wherein rotation of the input drive gear causes rotation of the first timing belt pulley pair and the second timing belt pulley pair; a first idler pulley element suspended between the first timing belt pulley pair and the output pulley and held in tension to the first timing belt pulley pair via a first tension-bearing element and to the output pulley via a second tension-bearing element; a second idler pulley element suspended between the second timing belt pulley pair and the output pulley and held in tension to the second timing belt pulley pair via a third tension-bearing element and to the output pulley via the second tension-bearing element; and the output pulley for coupling to a load, wherein the output pulley couples to the first idler pulley element and the second idler pulley element via the second tension-bearing element looping around the output pulley and is configured to apply motion of the first idler pulley element and the second idler pulley element to the load.