US 12,320,400 B2
Transmission with integrated overload protection for a legged robot
Zachary John Jackowski, Sommerville, MA (US); and Adam Young, Waltham, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jan. 24, 2024, as Appl. No. 18/421,354.
Application 18/421,354 is a continuation of application No. 17/898,371, filed on Aug. 29, 2022, granted, now 11,920,649.
Application 17/898,371 is a continuation of application No. 16/858,800, filed on Apr. 27, 2020, granted, now 11,460,076, issued on Oct. 4, 2022.
Application 16/858,800 is a continuation of application No. 16/416,765, filed on May 20, 2019, granted, now 10,655,684, issued on May 19, 2020.
Application 16/416,765 is a continuation of application No. 15/380,687, filed on Dec. 15, 2016, granted, now 10,337,561, issued on Jul. 2, 2019.
Prior Publication US 2024/0301921 A1, Sep. 12, 2024
Int. Cl. F16D 7/00 (2006.01); B25J 9/10 (2006.01); B25J 19/06 (2006.01); F16D 7/02 (2006.01); F16H 35/10 (2006.01); F16H 49/00 (2006.01); F16H 25/20 (2006.01)
CPC F16D 7/025 (2013.01) [B25J 9/1025 (2013.01); B25J 19/06 (2013.01); F16H 35/10 (2013.01); F16H 49/001 (2013.01); F16H 25/20 (2013.01); F16H 2025/204 (2013.01); F16H 2025/2043 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for operating a robot, the method comprising:
driving rotation of a leg member of the robot with a motor, wherein the motor is coupled to the leg member through a transmission system that comprises an input member coupled to an output of the motor, and an output member, the transmission system configured such that the output member rotates at a different speed than the input member, wherein the output member of the transmission system is engaged with the leg member of the robot through a clutch member comprising a clutch surface that contacts a surface of the output member; and
providing overload protection for the motor or the transmission system by applying, with a compliant member, a preload force on the clutch member to contact the clutch surface of the clutch member with the surface of an output member of the transmission system, wherein the preload force provides a torque limit such that:
when a torque load on the transmission system is less than the torque limit, the surface of the output member and the clutch surface of the clutch member are frictionally engaged and rotate together, and
when the torque load on the transmission system is greater than the torque limit, the surface of the output member slips relative to the clutch surface of the clutch member.