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Title: Cross-shaped torsional spring

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; USDOE, Washington, DC (United States)
OSTI Identifier:
6183560
Patent Number(s):
5910720 A
Application Number:
CNN: 959333; PPN: US 8-897091
Assignee:
Massachusetts Inst. of Tech., Cambridge, MA (United States) PTO; EDB-99-080773
Resource Type:
Patent
Resource Relation:
Patent File Date: 18 Jul 1997
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ACTUATORS; CONTROL SYSTEMS; DESIGN; MECHANICAL TRANSMISSIONS; MOTORS; SPRINGS; ENGINES; MACHINE PARTS; 420200* - Engineering- Facilities, Equipment, & Techniques

Citation Formats

Williamson, M.M., and Pratt, G.A. Cross-shaped torsional spring. United States: N. p., 1999. Web.
Williamson, M.M., & Pratt, G.A. Cross-shaped torsional spring. United States.
Williamson, M.M., and Pratt, G.A. Tue . "Cross-shaped torsional spring". United States.
@article{osti_6183560,
title = {Cross-shaped torsional spring},
author = {Williamson, M.M. and Pratt, G.A.},
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 = {1999},
month = {6}
}