Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1991-04-08
1993-05-04
Herrmann, Allan D.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
74 892, 74 8922, 414 7, 901 21, 901 23, G05G 1100
Patent
active
052071146
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. To form a differential, a pretensioned cable carried on paired pulleys having smooth outer surfaces parallel to the axis of rotation couples the pulleys. The pulleys have axes of rotation that can intersect and their cable carrying surfaces are closely spaced, preferably by less than half the width of the cable. The outer surfaces can be stepped to accommodate two or more cables for bi-directional operation, or to create a conventional differential with a spider. The links and pulleys of the transmission are long and narrow. This high aspect ratio provides a compact configuration that is conducive 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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Salisbury, Jr. J. Kenneth
Townsend William T.
Herrmann Allan D.
Massachusetts Institute of Technology
Trousdell William O.
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