[특허]Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams a

[미국특허] Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams a 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	F15B-011/00 F15B-013/00 F01B-019/00
출원번호	US-0013247 (1987-02-10)
발명자 / 주소	Paynter Henry M. (Adams Rd. R.R. #1 Box 306A Pittsford VT 05763)
출원인 / 주소	Hardin Nathaniel A. (Forsyth GA 14) Paynter Henry M. (Pittsford VT 14a part interest)
인용정보	피인용 횟수 : 70 인용 특허 : 5

초록 ▼

The method and system employ strings of tension actuators in opposed relationship for controlling motions or deflections of jointed members: for example, for controlling the motions of arms, legs and elephant trunks or flexible antennae in robots and for controlling the deflections of beams and columns in frames and structures. These opposed tension actuators are inflated with controlled air pressures which are oppositely varied from a predetermined common-mode pressure Po (initial fluid pressure level Po). In other words, as one tension actuator is being inflated with pressure increasing above Po, the opposed tension actuator is being inflated with pressure decreasing below Po for producing motion or deflection of the jointed member in one direction, and conversely for producing motion or deflection in the other direction. The opposed tension actuators have their ends anchored to rigid movable plates or struts containing sockets for the respective joints. By virtue of controlling the opposed actuators with a common-mode pressure level Po, they are always exerting a net compressive force on each joint, so advantageously permitting usage of simple, inexpensive, lightweight, non-capturing joints as shown. Moreover, the jointed member automatically returns to a predetermined midrange rest position whenever air pressures are returned to Po. A nearly uniform stiffness (or mechanical output impedance) is provided at all positions by controlling the opposed pressures to be Po+Do-DDo. In this way, precision open-loop proportional control is achieved.

대표청구항 ▼

A fluid-pressure actuated elongated jointed member having a longitudinal axis and capable of being moved about in various controlled directions, comprising: a plurality of rigid elements located at respective positions spaced along said axis, each of said elements extending across the axis and having first and second projections projecting outwardly on opposite sides of the axis, all of said first projections being on a first side of said axis and all of said second projections being on the second side of said axis, said second side being opposite to said first side, each of said elements being oriented generally perpendicular to the neighboring portion of the longitudinal axis at the respective position where the element crosses the axis, a plurality of compression-carrying links positioned concentrically along the axis, respective ones of said links extending between successive elements, each link being rigidly connected to an element and having a pivotal relationship with the adjacent element, first and second pluralities of fluid-inflatable tension actuators, each of said tension actuators having an inlet end and an outlet end, the tension actuators of the first plurality being joined end-to-end for forming a first inflatable string with the outlet end of each actuator in said first string communicating with the inlet end of the next actuator in said first string, and with the outlet end of the last actuator in said first string being blocked, means for feeding pressurized fluid into the inlet end of said first string of tension actuators, the tension actuators of the second plurality being joined end-to-end for forming a second inflatable string with the outlet end of each actuator in said second string communicating with the inlet end of the next actuator in said second string, and with the outlet end of the last actuator in said second string being blocked, means for feeding pressurized fluid into the inlet end of said second string of tension actuators, the first string of tension actuators extending generally parallel with said axis and being offset from said axis on the first side of said axis, the second string of tension actuators extending generally parallel with said axis and being offset from said axis on the second side of said axis, said first string of tension actuators being fastened to the first projections of said elements with respective fastening connections being located near ends of tension actuators in said first string, and said second string of tension actuators being fastened to the second projections of said elements with respective fastening connections being located near ends of tension actuators in said second string.

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연합인증

[미국특허] Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams a 원문보기

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[미국특허] Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams a 원문보기

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