Rotary Parallel Elastically Coupled Actuator
A torque-controllable rotary actuator is provided that includes a chassis, a first and second motor, a series elastic element, and an output link. The first motor, the series elastic element, and the second motor may all rotate around a common axis, and may all be located within the same module, which may be at the joint of a robotic arm. Certain embodiments may include a first gearbox, which may be coupled to the first motor. The torque-controllable rotary actuator may also contain a torque sensor that is configured to measure a torque applied to the rotary actuator. The torque-controllable rotary actuator may also include a second gearbox coupled directly to the second motor and/or a brake coupled directly to the first motor.
1 . A torque-controllable rotary actuator for actuation in a multi-joint robotic system, comprising:
a chassis;
a first motor;
a series elastic element;
a second motor; and
an output link,
wherein the first motor, the series elastic element, and the second motor rotate about a common axis;
wherein the chassis, the first motor, the series elastic element, the second motor, and the output link are all within a module.
2 . The torque-controllable rotary actuator of claim 1 , further comprising:
a torque sensor configured to measure a torque applied to the rotary actuator.
3 . The torque-controllable rotary actuator of claim 2 , wherein the torque sensor includes an elastic element and wherein the torque sensor is configured to measure the torque applied to the rotary actuator by measuring a deflection of the elastic element when the torque is applied.
4 . The torque-controllable rotary actuator of claim 2 , wherein the torque sensor is configured to measure the torque applied to the rotary actuator by measuring a deflection of the series elastic element when the torque is applied.
5 . The torque-controllable rotary actuator of claim 4 , wherein the torque sensor measures the deflection of the series elastic element using a Hall effect sensor.
6 . The torque-controllable rotary actuator of claim 1 , further comprising:
a first gearbox coupled to the first motor.
7 . The torque-controllable rotary actuator of claim 1 , further comprising:
a second gearbox coupled to the second motor.
8 . The torque-controllable rotary actuator of claim 1 , further comprising:
a brake coupled to the first motor.
9 . The torque-controllable rotary actuator of claim 1 , wherein the output link is configured to rotate with respect to the chassis with a bearing.
10 . The torque-controllable rotary actuator of claim 6 , wherein the first gearbox is coupled directly to the series elastic element.
11 . The torque-controllable rotary actuator of claim 6 , wherein the first gearbox is coupled directly to the torque sensor.
12 . The torque-controllable rotary actuator of claim 1 , wherein the output link is directly coupled to the series elastic element.
13 . The torque-controllable rotary actuator of claim 2 , wherein the output link is directly coupled to the torque sensor.
14 . The torque-controllable rotary actuator of claim 1 , wherein the second motor is coupled to the chassis.
15 . The torque-controllable rotary actuator of claim 1 , wherein the module is located at the joint of a robotic arm.