PASSIVE TORQUE BALANCING IN A HIGH-FREQUENCY OSCILLATING SYSTEM |
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| 申请号 | PCT/US2011024479 | 申请日 | 2011-02-11 | 公开(公告)号 | WO2011142864A3 | 公开(公告)日 | 2012-05-10 |
| 申请人 | HARVARD COLLEGE; SREETHARAN PRATHEEV; WOOD ROBERT; | 发明人 | SREETHARAN PRATHEEV; WOOD ROBERT; | ||||
| 摘要 | A passively torque-balanced device includes (a) a frame; (b) a drivetrain including a drive actuator mounted to the frame and configured for reciprocating displacement, an input platform configured for displacement by the drive actuator, a plurality of rigid links, including a proximate link and remote links, wherein the rigid links are collectively mounted to the frame, and a plurality of joints joining the rigid links and providing a plurality of non-fully actuated degrees of freedom for displacement of the rigid links, the plurality of joints including a fulcrum joint that is joined both to the input platform and to the proximate rigid link; and (c) at least two end effectors respectively coupled with the remote links and configured for displacement without full actuation. | ||||||
| 权利要求 | |||||||
| 说明书全文 | |||||||
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