Phased array buckling actuator
First Claim
1. A displacement amplification device, comprising:
- a first buckling actuator unit tending to cause displacement of the first buckling actuator unit in a first direction when activated; and
a second buckling actuator unit tending to cause displacement of the second buckling actuator unit in a second direction when activated;
wherein asynchronous activation of the first and second buckling actuator units controls buckling direction and wherein one of the first and second buckling actuator units is forced beyond a zero displacement point by the other of the first and second buckling actuator units.
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Accused Products
Abstract
A harmonic buckling actuator includes buckling units engaged to a rotational track/gear. Each buckling unit includes two input actuators. One end of each input actuator is constrained to rotate about a rotational joint that is rigidly attached to a common ground. The other end of each input actuator is constrained to move with the other actuator of the same buckling unit along a single output axis via another rotational joint that is the output of the buckling unit. The inactivated, unforced configuration of each buckling unit is such that the input actuators are nearly collinear with the line segment connecting the unit'"'"'s grounded rotational joints. The buckling units are arrayed around the track/gear such that their outputs are spatially phased within the groves of the track/gear. Harmonic activation of the buckling units generates torque on the track/gear about its output axis.
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Citations
24 Claims
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1. A displacement amplification device, comprising:
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a first buckling actuator unit tending to cause displacement of the first buckling actuator unit in a first direction when activated; and a second buckling actuator unit tending to cause displacement of the second buckling actuator unit in a second direction when activated; wherein asynchronous activation of the first and second buckling actuator units controls buckling direction and wherein one of the first and second buckling actuator units is forced beyond a zero displacement point by the other of the first and second buckling actuator units. - View Dependent Claims (2, 3)
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4. A displacement amplification device, comprising:
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a plurality of buckling actuator units, wherein asynchronous activation of the plurality of buckling actuator units controls displacement direction, wherein each of the buckling actuator units comprises; first and second input linear actuators; a first rotational joint rigidly coupling one end of the first input linear actuator to a common ground; a second rotational joint rigidly coupling one end of the second input linear actuator to the common ground; and a third rotational joint coupling the other end of each of the first and second input linear actuators to each other, wherein the third rotational joint is coupled and arranged such that the third rotational joint displaces in either direction across a line defined by the first and second rotational joints with zero displacement being defined by the third rotational joint lying on the line defined by the first and second rotational joints, wherein the third rotational joints of first and second buckling actuator units of the plurality of buckling actuators units are free to move in the same plane and are mechanically coupled to each other. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A displacement amplification device, comprising:
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a plurality of buckling actuator units, wherein asynchronous activation of the plurality of buckling actuator units controls displacement direction, wherein each of the buckling actuator units comprise; first and second input linear actuators; a first rotational joint rigidly coupling one end of the first input linear actuator to a common ground; a second rotational joint rigidly coupling one end of the second input linear actuator to the common ground; and a third rotational joint coupling the other end of each of the first and second input linear actuators to each other, wherein the third rotational joint is coupled and arranged such that the third rotational joint buckles in either direction across a line defined by the first and second rotational joints, and wherein the plurality of buckling actuator units are engaged to a track and are harmonically activated to generate net force on the track. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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21. A method of controlling a displacement direction of a displacement amplification device, comprising:
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providing a plurality of buckling actuator units; activating a first buckling actuator unit of the plurality of buckling actuator units such that a second buckling actuator unit of the plurality of buckling actuator units is forced from one side to the other of a zero displacement point of the second buckling actuator unit; and activating the second buckling actuator unit such that a magnitude of the displacement of the first and second buckling actuator units is increased. - View Dependent Claims (22, 23, 24)
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Specification