Vehicle with compliant drive train

• US 6,964,309 B2
• Filed: 06/03/2002
• Issued: 11/15/2005
• Est. Priority Date: 06/04/2001
• Status: Active Grant

• Current Assignee: Biorobots, LLC
• Original Assignee: Biorobots, LLC
• Inventors: Offi, John T., Ritzmann, Roy E., Kingsley, Daniel A., Quinn, Roger D.
• Primary Examiner(s): Morris, Lesley D.
• Assistant Examiner(s): YEAGLEY, DANIEL S
• Application Number:
  US10/161,530
• Publication Number:
  US 20020179342A1
• Time in Patent Office: 1,261 Days
• Field of Search: 464/54, 464/57, 464/69, 464/70, 464/77, 464/88, 464/89, 464/97, 464/160, 464/161, 464/61, 280/DIG.10, 280/5.26, 280/5.28, 301/124.1, 152/105, 152/106, 152/107, 152/97, 305/1, 305/4, 305/5, 180/7.1, 180/8.1, 180/8.7, 180/8.2, 180/194, 180/8.5, 180/8.6, 180/383
• US Class Current: 180/8.1
• CPC Class Codes: B62D 57/022 consisting of members having both rotational and walking movements

Abstract

A vehicle that is propelled by as few as one actuator through a compliant drive train can move quickly on relatively smooth terrain and can climb obstacles. The body of the vehicle may consist of a single segment or multiple segments connected by articulating joints. The driving appendages can take different forms including legs or specialized legs with multiple spokes attached to a rotating hub. The driving appendages can be propelled by as few as one actuator. The driving appendages are each serially connected to their actuator(s) by a compliant device. The compliant devices permit relative motion between driving appendages that share the same actuator. A springably biased compliant device maintains nominal-desired phasing among driving appendages until one of them is forcibly perturbed. The phasing of the driving appendages, or gait, adapts to the terrain. Mechanical stops limit the excursion of the compliant device such that a new desirable leg phasing is reached for climbing large obstacles. The elasticity of the compliant device restores the phasing of the driving appendages to their nominal state when the perturbation is removed. Compliance in the driving appendages and feet smooth the cyclic motion of the body. Compliant feet conform to the terrain and provide improved traction. Steering mechanisms rotate the plane of action of the driving appendages.

Claims

1. A vehicle, comprising:

a. a body;

b. one or more driving appendages;

c. said driving appendages attached to said body to permit motion of said driving appendages to propel said body;

d. an actuation device; and

e. a drive train linking said actuation device to said driving appendages, said drive train comprising;

one or more couplings, said couplings comprising;

a) an input member, capable of cyclic motion;

b) an output member, capable of cyclic motion;

c) a torsionally compliant device unidirectionally biasing a relative phase of said input member and said output member;

d) said output member coupled to one of said driving appendages; and

e) said input member coupled to said actuation device.

2. The vehicle of claim 1, wherein said couplings include a limiting mechanism to limit said relative phasing to within a significant fraction of a cycle.

3. The vehicle of claim 1, further including a steering system.

4. The vehicle of claim 1, wherein said body comprises multiple body segments, and further includes a body flexion joint that connects said body segments and permits articulation of one body segment relative to another body segment, wherein said articulation is either:

a. actively controlled,

b. passively compliant, or

c. actively controlled and passively compliant.

5. The vehicle of claim 1, wherein said driving appendages are compliant.

6. The vehicle of claim 5, comprising at least two driving appendages.

7. The vehicle of claim 5, comprising at least three driving appendages.

8. The vehicle of claim 5, comprising at least four driving appendages.

9. The vehicle of claim 5, comprising at least six driving appendages.

10. The vehicle of claim 1, further including a foot with a means of passive traction on each of said driving appendages.

11. The vehicle of claim 1, wherein said motion is rotational.

12. The vehicle of claim 1, wherein said torsionally compliant device includes a spring.

13. The vehicle of claim 12, wherein said spring has a preload.

14. The vehicle of claim 1, wherein said actuation device includes a motor.

15. A vehicle, comprising:

a. a body;

b. one or more driving appendages, said driving appendages comprising;

1) a hub rotatably attached to said body and

2) one or more spoke extensions from said hub to propel said body;

c. an actuation device;

d. a drive train linking said actuation device to said driving appendages, said drive train comprising;

one or more rotary couplings, said rotary couplings comprising;

a) an input member;

b) an output member;

c) said input member and said output member rotatably attached;

d) a torsionally compliant device unidirectionally biasing a phase of said input member and said output member;

e) said output member coupled to one of said driving appendages; and

f) said input member coupled to said actuation device.

16. The vehicle of claim 15, wherein said rotary coupling includes a limiting mechanism to limit the relative phase of said input member and said output member to within a significant fraction of a cycle.

17. The vehicle of claim 16, wherein

a. said limiting mechanism includes a rotary mechanical stop and

b. said torsionally compliant device includes a torsional spring.

18. The vehicle of claim 15, further including a steering system.

19. The vehicle of claim 15, wherein said body comprises multiple body segments, and said body further includes a body flexion joint that connects said body segments and permits articulation, wherein said articulation is either:

a. actively controlled,

b. passively compliant, or

c. actively controlled and passively compliant.

20. The vehicle of claim 15, wherein said driving appendages are compliant.

21. The vehicle of claim 20, wherein the spoke extensions are compliant.

22. The vehicle of claim 15, further including a foot with a means of passive traction on each of said spoke extensions of each said driving appendage.

23. The vehicle of claim 15, wherein said driving appendages have at least two spoke extensions.

24. The vehicle of claim 15, wherein said driving appendages have at least three spoke extensions.

25. The vehicle of claim 15, wherein said driving appendages have at least four spoke extensions.

26. A vehicle, comprising:

a. a body;

b. one or more legs;

c. said legs attached to said body to permit motion;

d. an actuation device; and

e. a drive train linking said actuation device to said legs, said drive train comprising;

one or more couplings, said couplings comprising;

a) an input member, capable of cyclic motion;

b) an output member, capable of cyclic motion;

c) a torsionally compliant device unidirectionally biasing a relative phase of said input member and said output member;

d) said output member coupled to one of said legs; and

e) said input member coupled to said actuation device.

27. The vehicle of claim 26, wherein said couplings further include a limiting mechanism to limit said relative phasing of said input member and said output member to within a significant fraction of a cycle.

28. The vehicle of claim 26, further including a steering system.

29. The vehicle of claim 26, wherein said body comprises multiple body segments, and further includes a body flexion joint that connects said body segments and permits articulation, wherein said articulation is either:

a. actively controlled,

b. passively compliant, or

c. actively controlled and passively compliant.

30. The vehicle of claim 26, wherein said legs are compliant.

31. The vehicle of claim 26, further including a foot with a means of passive traction on each of said legs.

32. A drive system, comprising:

a drive member that provides a source of rotational power/torque;

a pair of unidirectionally pretensioned torsionally compliant devices, each coupled to receive rotational power/torque via the drive member; and

a pair of driving appendages, each coupled to a respective one of the torsionally compliant devices to rotate in response to the rotational power/torque provided by the respective torsionally compliant device;

wherein the torsionally compliant devices allow a phase angle change between the pair of driving appendages in response to a force or torque applied to at least one of the driving appendages.

33. The drive system of claim 32, wherein a motor provides the rotational power/torque to the drive member.

34. The drive system of claim 32, wherein the drive member includes an axle.

35. The drive system of claim 32, wherein the drive member includes at least two drive members, each coupled to provide power/torque to a respective torsionally compliant device.

36. The drive system of claim 32, wherein the pair of torsionally compliant devices have a selected preload.

37. The drive system of claim 36, wherein the pair of driving appendages are out of phase with one another when the selected preload of both of the torsionally compliant devices has not been overcome.

38. The drive system of claim 36, wherein one of the driving appendages is rotated relative to the other driving appendage when the selected preload of one of the respective torsionally compliant devices has been overcome.

39. The drive system of claim 36, wherein the pair of torsionally compliant devices have a positive stop limiting the phase angle change.

40. The drive system of claim 39, wherein the maximum phase angle change is based on the design of the driving appendages.

41. A vehicle comprising:

a frame;

a motor secured to the frame; and

a drive system in accordance with claim 32 secured to the frame and connected to the motor.

42. The vehicle of claim 41, comprising three drive systems.

43. The vehicle of claim 42, wherein the three drive systems are powered by a single motor.

44. The vehicle of claim 42, wherein the three drive systems are phased to employ an alternating tripod gait.

45. The vehicle of claim 44, wherein the individual driving appendages may be perturbed passively from a tripod gait on uneven terrain and return to a tripod gait on even terrain.

46. The vehicle of claim 44, wherein the frame comprises a front frame segment and a rear frame segment connected by a body flexion joint.

47. The vehicle of claim 46, wherein the body flexion joint may be actuated to allow the front frame segment to contact higher and/or lower terrain, wherein the actuation is active, passive, or a combination of active and passive actuation.

48. The vehicle of claim 41, comprising two drive systems wherein the two drive systems are phased to employ a diagonal gait when the selected preload of the torsionally compliant devices has not been overcome.

49. The vehicle of claim 48, wherein each of the driving appendages includes a respective hub and a number of extending members, and wherein the diagonal gait is such that when an extending member of one driving appendage contacts the terrain, an extending member of the driving appendage located on the opposite drive system and on the opposite side of the vehicle contacts the terrain in generally the same manner.

50. The vehicle of claim 48, wherein the individual driving appendages may be perturbed passively from a diagonal gait on uneven terrain and return to a diagonal gait on even terrain.

51. A drive train, comprising:

a drive member;

a driven member;

a unidirectionally pretensioned compliant torsional member coupled between the drive and driven members to transmit power/torque from the drive member to the driven member and to allow a phase change between the drive member and the driven member in response to a force/torque applied to the driven member;

a second drive member;

a second driven member;

a second unidirectionally pretensioned compliant torsional member coupled between the second drive member and the second driven member to transmit power/torque from the second drive member to the second driven member and to allow a phase change between the second drive member and the second driven member in response to a force/torque applied to the second driven member; and

a pair of driving appendages being secured to an object in a manner to permit their rotation, wherein one of the appendages is coupled to the driven member and the other appendage is coupled to the second driven member,

wherein the pair of driving appendages cooperate to move the object over varying terrain and the compliant torsional members allow a relative phase change between the driving appendages in response to forces applied to the pair of driving appendages as they engage the terrain.