Clutch with radial spring
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.
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.