Electrostatic clutch and transmissions
Methods and apparatus related to electrolaminate clutches and transmissions are disclosed. A device can include: an input shaft that can be coupled to an electrolaminate sheet; an output shaft that can be coupled rigidly to a spring positioned over the input shaft, where the spring includes a tab that fits a groove of a spring capture ring that can be positioned over the input shaft; and a drum connected to an electrical ground between the electrolaminate sheet and the spring capture ring, where the drum can be coupled rigidly to the spring capture ring. Then, when a voltage is applied to the electrolaminate sheet, the electrolaminate sheet can clamp to the drum and impart rotation of the input shaft to the drum. The imparted rotation can cause the spring capture ring and the spring to rotate and clamp down on the input shaft, imparting rotation to the output shaft.
1. A method, comprising:
coupling an input stage to an output stage by utilizing an electrolaminate clutch comprising a first portion and a second portion, wherein at least one portion of the electrolaminate clutch is flexible and comprises a substrate, a conductive layer disposed on the substrate, and a dielectric layer disposed on the conductive layer with the dielectric layer facing the other portion of the electrolaminate clutch, wherein the two portions are electrostatically clamped together when a voltage is applied between the two portions, wherein when the two portions are clamped, an input rotation is imparted to rotate the output stage, and when the voltage is not applied, the input rotation is not imparted to the output stage.
2. The method of claim 1 , wherein the first portion is coupled to electrical ground, wherein the second portion is coupled to an electrical power source via a brush or a slip ring and is supported by a pin structure.
3. The method of claim 1 , wherein each of the first and second portions of the electrolaminate clutch is flexible and comprises a respective substrate, a respective conductive layer, and a respective dielectric layer, with the respective dielectric layers of the two portions facing each other.
4. The method of claim 1 , wherein the at least one portion of the electrolaminate clutch has a thickness of 0.09 inches or less.
5. A device, comprising:
an input shaft coupled to an electrolaminate sheet;
a spring positioned over the input shaft;
a spring capture ring coupled to the spring;
an output shaft coupled rigidly to the spring; and
a drum positioned between the electrolaminate sheet and the spring capture ring, wherein the drum is coupled rigidly to the spring capture ring,
wherein when a voltage is applied to the electrolaminate sheet, the electrolaminate sheet clamps to the drum and imparts rotation of the input shaft to the drum causing the spring capture ring to rotate, which subsequently causes the spring to rotate and clamp down on the input shaft to impart rotation to the output shaft.
6. The device of claim 5 , wherein the spring has a portion that fits in a groove in the spring capture ring.
7. The device of claim 5 , wherein the drum is connected to an electrical ground.
8. The device of claim 5 , wherein the spring is a wrap spring.
9. A device, comprising:
an electrolaminate clutch comprising a first portion and a second portion, wherein at least one portion of the electrolaminate clutch is flexible and comprises a substrate, a conductive layer disposed on the substrate, and a dielectric layer disposed on the conductive layer with the dielectric layer facing the other portion of the electrolaminate clutch;
an input stage coupled to the first portion of the electrolaminate clutch;
an output stage coupled to the second portion of the electrolaminate clutch; and
an electrical circuit electrically connected to the first and second portions of the electrolaminate clutch, wherein (i) when the electrical circuit applies a voltage between the two portions, the two portions are electrostatically clamped together such that an input rotation is imparted to rotate the output stage and (ii) when the electrical circuit does not apply the voltage, the input rotation is not imparted to the output stage.
10. The device of claim 9 , wherein each of the first and second portions of the electrolaminate clutch is flexible and comprises a respective substrate, a respective conductive layer, and a respective dielectric layer, with the respective dielectric layers of the two portions facing each other.
11. The device of claim 9 , wherein the at least one portion of the electrolaminate clutch is the first portion, and wherein the second portion of the electrolaminate clutch is rigid and comprises a metal surface.
12. The device of claim 9 , wherein the at least one portion of the electrolaminate clutch is the second portion, and wherein the first portion of the electrolaminate clutch is rigid and comprises a metal surface.
13. The device of claim 9 , wherein the at least one portion of the electrolaminate clutch has a thickness of 0.09 inches or less.
14. The device of claim 9 , wherein the first portion of the electrolaminate clutch comprises a first disk and the second portion of the electrolaminate clutch comprises a second disk.
15. The device of claim 14 , wherein the first disk is coupled to a spring, wherein the spring allows the first disk to move toward the second disk when the voltage is applied, and wherein the spring causes the first disk to move away from the second disk when the voltage is not applied.
16. The device of claim 15 , wherein the electrical circuit is electrically connected to the first disk through the spring.
17. The device of claim 9 , wherein the output stage comprises a gearbox.
18. The device of claim 9 , wherein the first portion of the electrolaminate clutch comprises a first drum and the second portion of the electrolaminate clutch comprises a second drum.