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Title: Elastic actuator for precise force control

Abstract

The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end ofmore » the central section to a proximal end of the central section. 30 figs.« less

Inventors:
;
Issue Date:
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
516942
Patent Number(s):
5650704
Application Number:
PAN: 8-496,419; CNN: Contract 959333
Assignee:
Massachusetts Inst. of Tech., Cambridge, MA (United States)
Resource Type:
Patent
Resource Relation:
Other Information: PBD: 22 Jul 1997
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; ACTUATORS; DESIGN; MOTORS; MECHANICAL TRANSMISSIONS; TRANSDUCERS; FEEDBACK

Citation Formats

Pratt, G A, and Williamson, M M. Elastic actuator for precise force control. United States: N. p., 1997. Web.
Pratt, G A, & Williamson, M M. Elastic actuator for precise force control. United States.
Pratt, G A, and Williamson, M M. Tue . "Elastic actuator for precise force control". United States.
@article{osti_516942,
title = {Elastic actuator for precise force control},
author = {Pratt, G A and Williamson, M M},
abstractNote = {The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section. 30 figs.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1997},
month = {7}
}