Fluid control system having selective recruitable actuators
First Claim
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1. A fluid control system adapted to optimize power output for a given operating condition, comprising:
- a load;
a first pair of parallel actuators operating antagonistic to one another, and operable with said load;
a second pair of parallel actuators operating antagonistic to one another, and operable with said load, said second pair of parallel actuators comprising a different size than said first pair of parallel actuators;
at least one pressure control valve operable with each pair of said first and second pairs of parallel actuators and a pressurized fluid source, wherein said at least one pressure control valve provides a continuously variable pressure to said parallel actuators that facilitates a continuous range of output forces;
means for operably coupling said first and second pairs of actuators to said load; and
a control algorithm operable to recruit from said first and second pairs of parallel actuators to achieve variable power output, and to separately recruit and actuate either of said first and second pairs of parallel actuators, as well as a combination of said first and second pairs of parallel actuators.
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Abstract
A fluid control or actuation system providing selective recruiting of actuators antagonistic to one another to provide variable output power, such as that used to drive a load. The actuators are intended to comprise different sizes, and to be operable with one or more pressure control valves capable of providing displacement of a non-recruited actuator without requiring active input to cause such displacement. Being able to selectively recruit different sized actuators to drive the load, and being able to displace non-recruited without active input, effectively incorporates a gearing function into the fluid control system.
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Citations
21 Claims
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1. A fluid control system adapted to optimize power output for a given operating condition, comprising:
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a load; a first pair of parallel actuators operating antagonistic to one another, and operable with said load; a second pair of parallel actuators operating antagonistic to one another, and operable with said load, said second pair of parallel actuators comprising a different size than said first pair of parallel actuators; at least one pressure control valve operable with each pair of said first and second pairs of parallel actuators and a pressurized fluid source, wherein said at least one pressure control valve provides a continuously variable pressure to said parallel actuators that facilitates a continuous range of output forces; means for operably coupling said first and second pairs of actuators to said load; and a control algorithm operable to recruit from said first and second pairs of parallel actuators to achieve variable power output, and to separately recruit and actuate either of said first and second pairs of parallel actuators, as well as a combination of said first and second pairs of parallel actuators. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A fluid control system adapted to optimize power output for a given operating condition, comprising:
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a load; a first actuator operable with said load; a second actuator operable with said load, and operating antagonistic to said first actuator, said first and second actuators comprising a different size; a pressure control valve operable with each of said first and second actuators, and a pressurized fluid source, wherein said pressure control valve provides a continuously variable pressure to said first and second actuators that facilitates a continuous range of output forces; means for operably coupling said first and second actuators to said load; and a control algorithm operable to recruit and actuate either of said first and second actuators to achieve variable power output.
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12. A method for varying power output within a fluid control system operable with a load, said method comprising:
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providing a first pair of parallel actuators operating antagonistic to one another, and operable with said load; providing a second pair of parallel actuators operating antagonistic to one another, and operable with said load, said second pair of parallel actuators comprising a different size than said first pair of parallel actuators; operating at least one pressure control valve with each pair of said first and second pairs of parallel actuators and a pressurized fluid source, wherein said at least one pressure control valve provides a continuously variable pressure to said parallel actuators that facilitates a continuous range of output forces; coupling said first and second pairs of actuators to said load; and recruiting, selectively, from said first and second pairs of parallel actuators to achieve a variable power output, said recruiting being capable of separately recruiting and actuating either of said first and second pairs of parallel actuators, as well as a combination of said first and second pairs of parallel actuators. - View Dependent Claims (13, 14, 15, 16)
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17. A method for varying power output within a fluid control system operable with a load, said method comprising:
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recruiting a first pair of parallel actuators to achieve a first power output; recruiting a second pair of parallel actuators, having different size than said first pair of parallel actuators, to achieve a second power output; recruiting, in combination, said first and second pairs of parallel actuators to achieve a third power output; causing a pressure control valve operable with said second pair of parallel actuators to enter a state of inactive passivity during said recruiting of said first pair of parallel actuators to achieve said first power output; and causing a pressure control valve operable with said first pair of parallel actuators to enter a state of inactive passivity during said recruiting of said second pair of parallel actuators to achieve said second power output, wherein said pressure control valve operable with said second pair of parallel actuators provides a continuously variable pressure to said second pair of parallel actuators that facilitates a continuous range of output forces, said range comprising said second power output. - View Dependent Claims (18, 19, 20, 21)
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Specification