US 10,888,994 B2
Actuator for subsea and wet environments
Matthew Gildner, Pasadena, CA (US); Justin R Koch, Pasadena, CA (US); and Torkom A Pailevanian, Pasadena, CA (US)
Assigned to CALIFORNIA INSTITUTE OF TECHNOLOGY, Pasadena, CA (US)
Filed by CALIFORNIA INSTITUTE OF TECHNOLOGY, Pasadena, CA (US)
Filed on May 2, 2019, as Appl. No. 16/401,727.
Claims priority of provisional application 62/665,736, filed on May 2, 2018.
Prior Publication US 2019/0341825 A1, Nov. 7, 2019
Int. Cl. H02K 5/132 (2006.01); H02K 5/173 (2006.01); H02K 5/22 (2006.01); H02K 7/08 (2006.01); H02K 7/102 (2006.01); H02K 7/116 (2006.01); H02K 11/22 (2016.01); H02K 11/215 (2016.01); F16H 49/00 (2006.01); B25J 9/12 (2006.01); H02K 11/01 (2016.01)
CPC B25J 9/126 (2013.01) [F16H 49/001 (2013.01); H02K 5/132 (2013.01); H02K 5/1735 (2013.01); H02K 5/225 (2013.01); H02K 7/085 (2013.01); H02K 7/1023 (2013.01); H02K 7/116 (2013.01); H02K 11/0141 (2020.08); H02K 11/022 (2013.01); H02K 11/215 (2016.01); H02K 2213/12 (2013.01)] 8 Claims
OG exemplary drawing
 
1. An actuator comprising:
an input end and an output end;
an output plate at the output end;
a brushless motor configured to generate a torque at the output plate;
a harmonic gearset connected to the brushless motor;
a hollow tube attached to the output plate and configured to rotate with the output plate, the hollow tube having an output encoder disk at the input end, the output encoder disk configured to rotate with the hollow tube;
an absolute magnetic output encoder at the input end, configured to read a position of the output encoder disk, thereby obtaining a position of the output plate;
an input encoder disk at the input end and attached to a rotor of the brushless motor;
an absolute magnetic input encoder at the input end, configured to read a position of the input encoder disk;
a magnetic brake configured to brake the brushless motor;
a circular magnetic shield between the magnetic brake and the absolute magnetic output encoder, configured to shield the absolute magnetic output encoder from magnetic interference by the magnetic brake;
a plurality of ball bearings configured to allow the brushless motor to rotate relative to the actuator;
a plurality of circular seals configured to seal an inside of the actuator from a liquid environment outside the actuator; and
a plurality of clamps configured to compress the plurality of circular seals.