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    • 7. 发明授权
    • Variable pliability actuator
    • 可变柔性执行器
    • US09227328B2
    • 2016-01-05
    • US13275644
    • 2011-10-18
    • Antonio BicchiManuel Giuseppe CatalanoManolo GarabiniGiorgio Grioli
    • Antonio BicchiManuel Giuseppe CatalanoManolo GarabiniGiorgio Grioli
    • B25J17/00B25J17/02B25J18/00B25J19/06B25J9/08B25J9/10
    • B25J19/068B25J9/08B25J9/10Y10T74/20317
    • A variable pliability actuator is provided to move a movable component including two electric rotary motors, at least one output shaft connected to be set in rotation by the motors around a rotation axis, an elastic transmission system to enable motion transfer from the motors to the output shaft and to vary the pliability the output shaft, a control unit to adjust at least the pliability of the output shaft through the elastic transmission system, and a holding structure to hold at least the motors, the elastic transmission system, the output shaft and the control unit. The holding structure has a driving output placed at the outer surface controlled by the output shaft and connected to set the movable component in rotation about the rotation axis, at least one stiff coupling element to enable a stiff connection of the holding structure, and a support output opposite the driving output, substantially coaxial with the rotation axis and partly housing and stabilizing the rotation of the movable component.
    • 提供可变柔性致动器以移动包括两个电动旋转电机的可移动部件,至少一个输出轴,其被连接以由电动机围绕旋转轴线旋转设置;弹性传动系统,以实现从电动机到输出的运动传递 轴和改变输出轴的柔韧性,控制单元至少通过弹性传动系统调节输出轴的柔韧性,以及保持结构,至少保持电动机,弹性传动系统,输出轴和 控制单元 保持结构具有驱动输出,其设置在由输出轴控制的外表面处并被连接以将可移动部件围绕旋转轴线旋转,使至少一个刚性联接元件能够保持结构的刚性连接,以及支撑件 输出与驱动输出相反,基本上与旋转轴线同轴并且部分地容纳并稳定可移动部件的旋转。