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公开(公告)号：KR20180053265A
公开(公告)日：2018-05-21
申请号：KR20170150744
申请日：2017-11-13
Applicant: SARCOS CORP
Inventor： SMITH FRASER M , OLIVIER MARC X
CPC classification number: B25J19/0041 , B25J9/0006 , B25J17/0241 , F16D13/52 , F16D23/12 , F16D25/0638 , F16D25/14 , F16D2023/123 , F16H1/28
Abstract: 본발명의클러치식조인트모듈은회전축을중심으로서로에대해회전할수 있는출력부재및 입력부재; 회전축을중심으로출력부재를회전시키는주 토크를인가하도록작동가능한주 액츄에이터; 및주 토크의인가를촉진하기위해결합상태와비결합상태사이에서작동가능한클러치기구를포함한다. 클러치기구는복수의플레이트및 결합상태에서클러치기구를기능시키도록복수의플레이트를압축하도록작동가능한액츄에이터를포함할수 있다. 액츄에이터는볼-램프클러치장치일수 있다. 쿼지-패시브탄성액츄에이터가입력부재에커플링될수 있고, 출력부재의회전을돕기위해증강토크를인가하도록저장에너지를방출하기위해클러치기구를통해작동가능할수 있다. 관련방법및 시스템이개시된다.
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公开(公告)号：KR20180053266A
公开(公告)日：2018-05-21
申请号：KR20170150753
申请日：2017-11-13
Applicant: SARCOS CORP
Inventor： SMITH FRASER M , OLIVIER MARC X
CPC classification number: B25J19/0041 , B25J9/0006 , B25J17/0241 , F16D11/00 , F16D13/52 , F16D23/12 , F16D27/14 , F16H1/28
Abstract: 본발명의로보틱시스템의클러치식조인트모듈은로보틱시스템의제1 지지부재에커플링되도록작동가능한출력부재; 로보틱시스템의제2 지지부재에커플링되도록작동가능한입력부재; 클러치식조인트모듈의회전축을중심으로제1 및제2 지지부재를서로에대해회전시키도록출력부재에주 토크를인가하도록작동가능한주 액추에이터; 입력부재에커플링되고회전축을중심으로출력부재를회전시키도록주 토크와조합되는증강토크를출력부재에인가하도록작동가능한쿼지-패시브탄성액츄에이터; 및주 액츄에이터및 쿼지-패시브탄성액츄에이터와작동식으로커플링되도고쿼지-패시브탄성액츄에이터를활성화또는비활성화하고증강토크의인가또는제거를촉진하기위해결합상태또는비결합상태에서작동가능한클러치기구를포함한다.
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公开(公告)号：KR20180053267A
公开(公告)日：2018-05-21
申请号：KR20170150756
申请日：2017-11-13
Applicant: SARCOS CORP
Inventor： SMITH FRASER M , OLIVIER MARC X , GLENN COLVIN JR
CPC classification number: B25J9/0006 , B25J9/148 , B25J17/0241
Abstract: 본발명의로보틱조립체의튜닝가능한액츄에이터조인트모듈은출력부재및 입력부재를포함하고, 출력부재는회전축을중심으로회전가능하다. 주액츄에이터(예를들어, 모터)가회전축을중심으로출력부재를회전키시키는토크를인가하도록작동가능하다. 탄성구성요소를포함하는쿼지-패시브탄성액츄에이터(예를들어, 회전또는선형공압액츄에이터)는조인트강성값까지튜닝가능하고, 출력부재의회전을돕고주 액추에이터의동력소비를최소화하도록증강토크를인가하기위해저장에너지를선택적으로방출하도록작동가능하다. 튜닝가능한액츄에이터조인트모듈은로보틱조립체(예를들어, 외골격의둔부또는무릎)의이동의각 부분동안탄성상태와비탄성상태사이에서쿼지-패시브탄성액츄에이터를스위칭하도록제어가능하게작동가능한밸브조립체를갖는제어시스템을포함한다. 관련시스템및 방법이제공된다.
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4.发明专利
公开(公告)号：AU2019418603A1
公开(公告)日：2021-07-08
申请号：AU2019418603
申请日：2019-12-30
Applicant: SARCOS CORP
Inventor： OLIVIER MARC X , SMITH FRASER M
Abstract: A robotic end-effector to provide conformal object interaction. The end-effector has at least one finger with an inner portion or engaging side and one or more degrees of freedom. A jamming conformal pad is on the inner portion of the at least one finger. The jamming conformal pad has a compliant configuration in which the jamming conformal pad is compliant and configured to distribute across a surface of an object and, if contoured, infiltrate into any variations (e.g., indentations) in the surface, defining a conformal engaging surface configured to match and mate with the surface. The jamming conformal pad has a stiff configuration in which the jamming conformal pad is stiff or relatively stiff as compared to the jamming conformal pad in the compliant configuration, and which substantially maintains a shape of the conformal engaging surface.
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