US 12,264,732 B1
Strain-wave gear assembly having circumferentially spaced apart bridge circuits and related technology
Jim Coy, Albany, OR (US); and Andrew Abate, Albany, OR (US)
Assigned to Agility Robotics, Inc., Pittsburgh, PA (US)
Filed by Agility Robotics, Inc., Pittsburgh, PA (US)
Filed on Aug. 2, 2023, as Appl. No. 18/364,280.
Claims priority of provisional application 63/387,126, filed on Dec. 13, 2022.
Int. Cl. F16H 49/00 (2006.01); F16H 57/01 (2012.01); G01L 1/22 (2006.01)
CPC F16H 49/001 (2013.01) [F16H 57/01 (2013.01); G01L 1/2262 (2013.01); F16H 2049/003 (2013.01); F16H 2057/012 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A strain-wave gear assembly comprising:
a circular spline, a flexspline, and a wave generator operably associated with one another, wherein:
relative rotation between the flexspline and the wave generator causes relative rotation between the circular spline and the flexspline about an axis, and
the flexspline includes:
a collar extending circumferentially around the axis, and
a flange connected to the collar and extending outwardly from the axis relative to the collar;
a first bridge circuit configured to generate a first electrical signal corresponding to strain at a first portion of the flexspline at the flange wherein the first bridge circuit includes a first upstream contact pad, a first resistor, and a first downstream contact pad in series;
a second bridge circuit configured to generate a second electrical signal corresponding to strain at a second portion of the flexspline at the flange and circumferentially offset from the first portion of the flexspline about the axis, wherein the second bridge circuit includes a second upstream contact pad, a second resistor, and a second downstream contact pad in series;
a first flexible sheet:
adhesively connected to the flange,
carrying the first upstream contact pad, the first resistor, and the first downstream contact pad, and
oriented on the flange such that the first resistor is between the first upstream contact pad and the axis and such that the first resistor is between the first downstream contact pad and the axis; and
a second flexible sheet:
adhesively connected to the flange,
carrying the second upstream contact pad, the second resistor, and the second downstream contact pad, and
oriented on the flange such that the second resistor is between the second upstream contact pad and the axis and such that the second resistor is between the second downstream contact pad and the axis.