CABLE DRIVEN JOINT ACTUATOR AND METHOD

摘要

A cable driven actuator and actuator method involve a movable link that is movable about a path by a cable connected to the link, and a movable support member having a cable routing element. The support member is movable in a manner to change a moment arm of the cable acting on the link to control torque applied to the joint.

主权项

1. A cable driven actuator comprising:
a rotator defining a central axis and a wrapping surface, the wrapping surface being configured to receive a cable driven by a motor to cause rotation of the rotator about the central axis; a first shaft extending outwardly from the rotator and located a predetermined distance from the central axis of the rotator; a support member defining an elongated body having a first end and a second end, the first end of the support member being engaged to the central axis to permit free rotation of the first end relative to the central axis of the rotator; and a tensioning arrangement having a first end and a second end, the first end of the tensioning arrangement being coupled to a proximal anchor that freely rotates about the first shaft of the rotator and the second end of the tensioning arrangement being coupled to a distal anchor that freely rotates about a second shaft that extends from the second end of the support member; wherein rotation of the rotator by the cable causes rotation of the proximal anchor as the first shaft is rotated around the central axis of the rotator such that a variable tension is applied to the distal anchor by the tensioning arrangement.