Actuator
A universal actuator for driving a continuum arm robot (1001 fig. 10) having a plurality of tendons, the universal actuator comprising; a housing (300 fig. 3), a power supply pack comprising a power source (305 fig. 3), a control pack comprising an industrial programmable logic controller 409, a scr...
Gespeichert in:
Hauptverfasser: | , , |
---|---|
Format: | Patent |
Sprache: | eng |
Schlagworte: | |
Online-Zugang: | Volltext bestellen |
Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
Zusammenfassung: | A universal actuator for driving a continuum arm robot (1001 fig. 10) having a plurality of tendons, the universal actuator comprising; a housing (300 fig. 3), a power supply pack comprising a power source (305 fig. 3), a control pack comprising an industrial programmable logic controller 409, a screen 403, a rotary encoder (510 fig. 5) linked to an analogue input device (513 fig. 5), a digital output device 410, a plurality of electronic control cards (507, 508 fig. 5) that connect the programmable logic controller 409 to a user input device, the rotary encoder (510 fig. 5) and an actuator pack (200 fig. 2) for controlling the motion of the continuum arm robot (1001 fig. 10), the programmable logic controller 409 or the screen 403 having a computer program to allow for set up and control of the continuum arm robot (1001 fig. 10); wherein the actuator pack (200 fig. 2) is coupled to an electronic control card (507, 508 fig. 5) that is linked to the control pack 409, the actuator pack (200 fig. 2) comprising a plurality of actuators (701 fig. 7b), each actuator (701 fig. 7b) being coupled to its own load cell (705 fig. 7b) and servo drivers (518 fig. 5); the actuator pack (200 fig. 2) has a connection port, the connection port having a hole through which tendons of the continuum arm robot (1001 fig.10) pass through in order to be connected to their associated actuator (701 fig. 7b) and a coupler (1003, 1004 fig.10) for allowing secure attachment and removal of the continuum arm robot (1001 fig.10); and each actuator (701 fig. 7b) of the plurality of actuators (701 fig. 7b) has a removable attachment (1104 fig. 11) of the tendons of the continuum arm robot (1001 fig.10). |
---|