Motors: expansible chamber type – Plural relatively movable or rigidly interconnected working... – Single valve for relatively movable working members driving...
Patent
1987-02-10
1988-11-15
Garrett, Robert E.
Motors: expansible chamber type
Plural relatively movable or rigidly interconnected working...
Single valve for relatively movable working members driving...
92 48, 92 92, 414 7, 901 21, 901 22, F15B 1100, F15B 1300, F01B 1900
Patent
active
047840420
ABSTRACT:
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 P.sub.o (initial fluid pressure level P.sub.o). In other words, as one tension actuator is being inflated with pressure increasing above P.sub.o, the opposed tension actuator is being inflated with pressure decreasing below P.sub.o 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 P.sub.o, 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 P.sub.o. A nearly uniform stiffness (or mechanical output impedance) is provided at all positions by controlling the opposed pressures to be P.sub.o +.DELTA.P and P.sub.o -.DELTA.P, where .DELTA.P is a corresponding increment above and below the initial (common-mode) level P.sub.o. In this way, precision open-loop proportional control is achieved.
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Garrett Robert E.
Hardin Nathaniel A.
Paynter Henry M.
Williamson Mark A.
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