Tunable actuator joint modules having energy recovering quasi- passive elastic actuators with internal valve arrangements

Patent metadata

Field	Value
Publication number	US-11759944-B2
Application number	US-202017093475-A
Country	US
Kind code	B2
Filing date	Nov 9, 2020
Priority date	Nov 11, 2016
Publication date	Sep 19, 2023
Grant date	Sep 19, 2023

Abstract

A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly. The method can further comprise configuring the valve assembly with a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.

First claim

What is claimed is:

1. A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state, the method comprising:
configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module about an axis of rotation;
configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, the first vane device and second vane device defining, at least in part, a compression chamber and an expansion chamber;
supporting a valve assembly about the axis of rotation of the joint through the first vane device; and
configuring a shunt circuit to facilitate fluid flow between the compression and expansion chambers through the valve assembly.

2. The method of claim 1 , further comprising configuring the first vane device to comprise a valve housing of the valve assembly.

3. The method of claim 2 , wherein configuring a shunt circuit comprises:
configuring the first vane device with a first conduit in fluid communication with the valve housing and the compression chamber; and
configuring the first vane device with a second conduit in fluid communication with the valve housing and the expansion chamber.

4. The method of claim 1 , further comprising configuring the valve assembly to comprise a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.

5. The method of claim 4 , further comprising configuring the valve device to comprise a moveable component and an actuator, the moveable component comprising an axis of actuation collinear with the axis of rotation of the joint of the tunable actuator joint module.

6. The method of claim 4 , further comprising facilitating actuation of the valve device to open the shunt circuit, and to facilitate fluid flow between the compression and expansion chambers through the valve assembly, thereby placing the quasi-passive actuator in an inelastic state.

7. The method of claim 4 , further comprising facilitating actuation of the valve device to close the shunt circuit, and to restrict fluid flow between the compression and expansion chambers, thereby placing the quasi-passive elastic actuator in an elastic state, the quasi-passive elastic actuator being operable in the elastic state to store and release energy and to apply the augmented torque.

8. The method of claim 4 , further comprising configuring the valve device to comprise an opening in fluid communication with the compression and expansion chambers.

9. The method of claim 4 , further comprising configuring the valve assembly to comprise a valve actuator operable with the valve device to facilitate selective actuation of the valve device.

10. The method of claim 4 , further comprising configuring the valve device to comprise:
a movable valve component coupled to the valve actuator, the valve actuator configured to axially move the movable valve component between the open and closed positions;
a first valve body adjacent the first movable member and having at least one fluid opening in fluid communication with an expansion chamber conduit of the first vane device; and
a second valve body adjacent the first valve body and having at least one fluid opening in fluid communication with a compression chamber conduit of the first vane device;
wherein, upon actuating the movable valve component from the open position to the closed position, the movable valve component covers the at least one fluid opening of the first valve body to close the shunt circuit, thereby restricting fluid flow between the compression and expansion chambers through the valve assembly.

11. The method of claim 10 , further comprising configuring the first and second valve bodies to each comprise an outer annular channel and a plurality of fluid openings disposed around the outer annular channel to facilitate radial gas pressure balancing of the valve assembly.

12. The method of claim 11 , further comprising configuring the movable valve component to comprise a cylindrical tube body slidably interfaced to an interior surface of the first valve body, the cylindrical tube body comprising at least one fluid opening proximate the valve actuator and in fluid communication with the fluid openings of the first and second valve bodies to facilitate axial gas pressure balancing of the valve assembly.

13. The method of claim 4 , further comprising configuring the valve device to comprise;
a movable valve component coupled to the valve actuator;
a first valve body coupled to the movable valve component and comprising an annular recess, the movable valve component and the first valve body configured to axially move between the open and closed positions; and
a second valve body comprising a central opening that slidably receives the movable valve component and the first valve body, the second valve body comprising a first fluid opening in selective fluid communication with an expansion chamber conduit of the first vane device, and a second fluid opening in fluid communication with a compression chamber conduit of the first vane device;
wherein, upon actuating the movable valve component and first valve body from the closed position to the open position, the annular recess of the first valve body facilitates fluid communication between the first and second fluid openings to open the shunt circuit that permits fluid flow between the compression and expansion chambers through the valve assembly.

14. The method of claim 13 , further comprising configuring the first valve body to comprise comprises a first annular stop portion and a second annular stop portion formed on either side of the annular recess, wherein the first annular stop portion is configured to restrict fluid flow about the first fluid opening of the second valve body when in the closed position.

15. The method of 14 , further comprising configuring the second valve body to comprise a first outer annular channel comprising a first plurality of fluid openings, and a second outer annular channel comprising a second plurality of fluid openings, such that the valve assembly is radially pressure balanced when in the closed and open positions.

16. The method of claim 13 , further comprising configuring the movable valve component to comprise a cylindrically shaped tube body attached to an inner opening of the first valve body, the tube body comprising at least one fluid opening in fluid communication with chambers on either end of the cylindrical tube body such that the valve assembly is axially pressure balanced when in the closed and open positions.

17. The method of claim 4 , further comprising configuring the valve device to comprise:
a movable valve component coupled to the valve actuator, the valve actuator configured to rotatably move the movable valve component between the open and closed positions;
a radial band device coupled to the movable valve component and comprising a first curved stop surface and a second curved stop surface; and
wherein, upon actuating the movable valve component from the open position to the closed position, the first and second curved stop surfaces close the shunt circuit that restricts fluid flow between the compression and

Assignees

• Sarcos Corp

Inventors

• Smith Fraser M
• Olivier Marc X
• Maclean Brian J
• Myers Michael

Classifications

• B25J9/0006 Primary

  Exoskeletons, i.e. resembling a human figure · CPC title

• B25J9/148

  of the oscillating vane-type (in general F15B15/12) · CPC title

• F15B15/12

  of the oscillating-vane or curved-cylinder type · CPC title

• F15B11/072

  Combined pneumatic-hydraulic systems (F15B11/032 takes precedence) · CPC title

• F15B15/204

  Control means for piston speed or actuating force without external control, e.g. control valve inside the piston (F15B11/02, F15B15/22 take precedence) · CPC title