发明名称 |
Rotary series elastic actuator |
摘要 |
A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint. |
申请公布号 |
US8291788(B2) |
申请公布日期 |
2012.10.23 |
申请号 |
US20090564090 |
申请日期 |
2009.09.22 |
申请人 |
IHRKE CHRIS A.;MEHLING JOSHUA S.;PARSONS ADAM H.;GRIFFITH BRYAN KRISTIAN;RADFORD NICOLAUS A.;PERMENTER FRANK NOBLE;DAVIS DONALD R.;AMBROSE ROBERT O.;JUNKIN LUCIEN Q.;GM GLOBAL TECHNOLOGY OPERATIONS LLC;THE UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION |
发明人 |
IHRKE CHRIS A.;MEHLING JOSHUA S.;PARSONS ADAM H.;GRIFFITH BRYAN KRISTIAN;RADFORD NICOLAUS A.;PERMENTER FRANK NOBLE;DAVIS DONALD R.;AMBROSE ROBERT O.;JUNKIN LUCIEN Q. |
分类号 |
B25J17/00;B25J17/02;B25J18/00 |
主分类号 |
B25J17/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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