Actuation systems and methods

Patent metadata

Field	Value
Publication number	US-9879767-B2
Application number	US-201414903126-A
Country	US
Kind code	B2
Filing date	Jul 10, 2014
Priority date	Jul 10, 2013
Publication date	Jan 30, 2018
Grant date	Jan 30, 2018

Abstract

Actuation systems and methods are disclosed. Such systems may comprise a motor having a drive shaft, one or more modules coupled to the drive shaft, each module comprising one or more energy storage elements and one or more actuating members connecting the one or more energy storage elements to one or more degrees of freedom, which are configured to actuate in response to a discharge of energy from the one or more energy storage element, and a plurality of clutches associated with each module to couple the energy storage element of the module to the drive shaft of the motor and to control an energy state of the energy storage element independent of energy storage elements of other modules.

First claim

What is claimed is:

1. An actuation system comprising:
a motor having a drive shaft;
one or more modules coupled to the drive shaft, each module of the one or more modules comprising one or more energy storage elements and one or more actuating members connecting the one or more energy storage elements to one or more degrees of freedom, the one or more degrees of freedom being configured to actuate in response to a discharge of energy from the one or more energy storage elements; and
a plurality of clutches associated with each module of the one or more modules to couple the one or more energy storage elements of the module to the drive shaft of the motor and to control an energy state of the energy storage element independent of energy storage elements of other modules of the one or more modules,
wherein the plurality of clutches comprises: a first clutch for coupling the energy storage element to the drive shaft to charge the energy storage element; and a second clutch for resetting the energy storage element.

2. The actuation system of claim 1 wherein each module comprises multiple energy storage elements.

3. The actuation system of claim 1 , wherein the one or more actuating members are isolated from the drive shaft.

4. The actuation system of claim 1 , wherein the plurality of clutches further comprises a third clutch for controlling discharge of energy from the energy storage element to actuate the one or more degrees of freedom.

5. The actuation system of claim 1 , wherein the energy storage element is a linear spring.

6. The actuation system of claim 1 , wherein the energy storage element is a rotary spring.

7. The actuation system of claim 1 , wherein each energy storage element of the one or more energy storage elements is operatively connected to one degree of freedom of the one or more degrees of freedom in a one to one correspondence to actuate the degree of freedom.

8. The actuation system of claim 1 , wherein multiple energy storage elements of the one or more energy storage elements are operatively connected to one degree of freedom of the one or more degrees of freedom to actuate the degree of freedom.

9. An actuation system comprising:
a motor having to at least one drive shaft;
two or more energy storage elements operatively connected to one or more degree of freedom to actuate the one or more degrees of freedom; and
a plurality of clutches configured to couple the two or more energy storage elements to the at least one drive shaft of the motor and to control an energy state of the two or more energy storage elements,
wherein the one or more degrees of freedom for each energy storage element is actuated in response to a discharge of energy from each energy storage element.

10. The actuation system of claim 9 wherein an amount of total stored energy over a period of time for the two or more energy storage elements has a discharge rate or a total power output that is greater than a maximum generated power input of the motor for the same period of time.

11. The actuation system of claim 9 , wherein the plurality of clutches comprises:
a first clutch for coupling a first energy storage element of the two or more energy storage elements to a first drive shaft of the at least one drive shaft to charge the first energy storage element; and
a second clutch for resetting the first energy storage element.

12. The actuation system of claim 11 , wherein the plurality of clutches further comprises a third clutch for controlling discharge of energy from the first energy storage element to actuate the one or more degrees of freedom.

13. The actuation system of claim 10 , wherein the two or more energy storage elements comprise a linear spring or a rotary spring.

14. The actuation system of claim 10 , wherein each energy storage element of the two or more energy storage elements is operatively connected to one degree of freedom of the one or more degree of freedom in a one to correspondence to actuate the degree of freedom.

15. The actuation system of claim 10 , wherein multiple energy storage elements of the two or more energy storage elements are operatively connected to one degree of freedom of the one or more degrees of freedom to actuate the degree of freedom.

16. A method of actuation comprising:
providing a motor with at least one drive shaft;
configuring a plurality of clutches to couple the one or more energy storage elements to the at least one drive shaft of the motor and to control an energy state of the one or more energy storage elements;
operatively connecting one or more energy storage elements to one or more degrees of freedom;
enabling the motor to transfer energy to the one or more energy storage elements;
storing the transferred energy by the one or more energy storage elements; and
allowing the one or more energy elements to release the stored energy to actuate the one or more degrees of freedom.

17. The method of claim 16 further comprising operating the plurality of clutches to perform one or more of the transferring, storing, and allowing steps.

Assignees

• Worcester Polytech Inst

Inventors

• Popovic Marko B
• Berthelette Christopher J
• Dipinto Matthew
• Sareault James D
• Hunt Thane R

Classifications

• F03G3/08 Primary

  using flywheels · CPC title

• F03G1/026

  using torsion springs · CPC title

• F03G1/02

  characterised by shape or material of spring, e.g. helical, spiral, coil · CPC title

• F16H33/02 Primary

  Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels · CPC title