差速驅動主動變剛性彈性系統、其方法及其人體外骨骼

專利類型

發明

專利國別 (專利申請國家)

中華民國

專利申請案號

101120098

專利證號

I 495460

專利獲證名稱

差速驅動主動變剛性彈性系統、其方法及其人體外骨骼

專利所屬機關 (申請機關)

國立臺灣大學

獲證日期

2015/08/11

技術說明

本發明揭露一種差速驅動主動變剛性彈性系統。此系統包含兩蝸輪、中心軸、輸出軸及剛性調整裝置及連桿裝置。中心軸連接兩蝸輪，而輸出軸設置於中心軸之輸出端。兩蝸輪組間設置有剛性調整裝置，其包含彈性片及兩銜接盒，彈性片之中心固設於兩蝸輪間之中心軸上，兩銜接盒可滑動地分別套設於彈性片之兩端點。兩蝸輪與兩銜接盒間設置有連桿裝置，此系統可藉由兩蝸輪旋轉角度差動，以驅動連桿裝置以帶動兩銜接盒同時向中心軸滑動或分別向彈性片之兩端點滑動，以調整輸出軸之剛性。 The present invention discloses an elastic system with actively variable stiffness. The system comprises two worm gears, a medial axis, an output link, a stiffness adjustment device and a linkage device. The two worm gears are connected with each other by a medial axis and the output link is disposed at the output end of the medial axis. Between the two worm gears is the stiffness adjustment device, which comprises a leaf spring and two connect boxes. The center of the leaf spring is fixed on the medial axis between the two worm gears. The two connect boxes movably mount on the two ends of the leaf spring respectively. The linkage device is disposed between the two worm gears and the two connect boxes. The differential angel displacement of two worm gears will cause the linkage device to drive the two boxes to simultaneously move toward the medial axis or respectively move toward the two ends of the leaf spring in order to adjust the stiffness of the output link.

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