Machine element or mechanism – Mechanical movements – Reciprocating or oscillating to or from alternating rotary
Patent
1989-11-17
1991-09-10
Braun, Leslie A.
Machine element or mechanism
Mechanical movements
Reciprocating or oscillating to or from alternating rotary
74 892, 414 7, 901 21, B25J 1700
Patent
active
050463756
ABSTRACT:
A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. The links and pulleys of the transmission are long and narrow. This high aspect ratio provides a compact configuration that is conductive to whole arm manipulations where any exterior surface of the links can engage an object. A low inertia, low friction brushless D.C. motor operating under the control of a pulse width modulated controller responsive to the current drawn by the motor, in combination with the cable transmission of this invention, provide excellent force control.
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DiPietro David M.
Eberman Brian S.
Salisbury, Jr. J. Kenneth
Townsend William T.
Anchell Scott
Braun Leslie A.
Massachusetts Institute of Technology
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