Cross-shaped torsional spring

Patent · Tue Jun 08 00:00:00 EDT 1999

OSTI ID:872323

Williamson, Matthew M ^[1]; Pratt, Gill A ^[2]

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1. Boston, MA
2. Lexington, MA

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.

• Research Organization: Jet Propulsion Laboratory
• Assignee: Massachusetts Institute of Technology (Cambridge, MA)
• Patent Number(s): US 5910720
• Application Number: 08/897,091
• OSTI ID: 872323
• Country of Publication: United States
• Language: English

Related Subjects

cross-shaped
torsional
spring
provides
elastic
actuator
consisting
motor
drive
transmission
connected
output
element
series
positioned
support
weight
load
single
force
transducer
mount
generates
signal
based
deflection
indicates
applied
active
feedback
control
loop
controlling
deflect
amount
produces
desired
produced
substantially
independent
motion
flexible
structure
flat
sections
integrally
extending
radially
central
section
extends
axially
distal
proximal
active feedback
control loop
force applied
extending radially
motor drive
central section
substantially independent
extends axially
motor control
elastic element
force transducer
torsional spring
force control
drive transmission
elastic actuator
transmission connected
extending radial
section extend
actuator consisting
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