ROTARY SERIES ELASTIC ACTUATOR

摘要

PROBLEM TO BE SOLVED: To provide a rotary actuator assembly for actuation of an upper arm assembly for a dexterous humanoid robot.

SOLUTION: 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 each axis. Each rotary actuator assembly includes a motor mounted about each axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input rotatably connected to an output of the gear drive and a spring output connected to an output for the joint.

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