Clutch with radial spring

Inventors: Brian Todd Dellon (West Roxbury, MA); Adam Henry Borrell (Sudbury, MA); Christopher Robert LeBrun (Groton, MA)

Assignee: Boston Dynamics, Inc.

F16D7/025 B25J9/1025 F16H49/001 F16H2049/003 Y10S901/25 Y10T74/19614

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Quick Facts

Patent No.: US 12663046
App. No.: 17/692,768
Granted: Jun 23, 2026
Kind: B2

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Abstract

A clutch assembly includes a first member for mechanically coupling to an output shaft. A first material is frictionally coupled to a first side surface of the first member. A second material is frictionally coupled to a second side surface of the first member. A compliant member is configured to apply an axial force on at least one of the first material and the second material. A radial spring least partially surrounds an exterior surface of the first member.

Claims (26)

1 . A clutch assembly comprising:

a housing;

a harmonic drive at least partially positioned within the housing, the harmonic drive including:

a wave generator configured to mechanically couple to an input shaft,

a flex spline fixed with respect to the housing, and

a circular spline arranged to rotate at a different speed than the wave generator when the wave generator rotates;

a first pad frictionally coupled to a distal side surface of the circular spline;

a second pad frictionally coupled to a proximal side surface of the circular spline;

a compliant member configured to apply an axial force on the first pad and the second pad; and

a radial spring surrounding an exterior surface of the circular spline, the radial spring comprising a bushing lining.

2 . The assembly of claim 1 , wherein the axial force defines, at least in part, a torque limit, and wherein when the torque limit is exceeded, the circular spline slips relative to at least one of the first pad or the second pad.

3 . The assembly of claim 2 , wherein the radial spring defines, at least in part, the torque limit.

4 . The assembly of claim 1 , wherein the compliant member comprises a Belleville spring.

5 . The assembly of claim 1 , wherein the radial spring comprises a tolerance ring.

6 . The assembly of claim 1 , wherein the radial spring includes a set of features extending radially outward from an exterior surface of the radial spring.

7 . The assembly of claim 6 , wherein the set of features includes at least one of protrusions, distensions, extensions, ridges, bulges, extrusions, or castellations.

8 . The assembly of claim 1 , wherein during operation, the bushing lining is configured to apply a substantially constant radial force to the circular spline.

9 . The assembly of claim 1 , further comprising a first output member surrounding the compliant member.

10 . The assembly of claim 9 , further comprising a second output member coupled to at least one of the first pad or the second pad.

11 . A robot comprising the assembly of claim 1 , and further comprising a motor configured to drive movement of a member of the robot.

12 . The robot of claim 11 , wherein the robot comprises a quadruped.

13 . The robot of claim 11 , wherein the robot comprises a biped.

14 . The robot of claim 11 , wherein the second pad is coupled to a second output member, the second output member being coupled to the member of the robot.

15 . A robot comprising:

a member configured to interact with an environment of the robot; and

the assembly of claim 1 , wherein the assembly is configured to drive movement of the member.