US 12,031,592 B2
Soft actuator, its working method and robot
Kai Guo, Jinan (CN); Yuan Lu, Jinan (CN); and Jie Sun, Jinan (CN)
Assigned to SHANDONG UNIVERSITY, (CN)
Filed by Shandong University, Jinan (CN)
Filed on Nov. 16, 2022, as Appl. No. 17/987,885.
Claims priority of application No. 202111354920.X (CN), filed on Nov. 16, 2021.
Prior Publication US 2023/0150121 A1, May 18, 2023
Int. Cl. F16D 27/14 (2006.01); B25J 9/12 (2006.01); F16D 27/12 (2006.01); B25J 19/06 (2006.01)
CPC F16D 27/14 (2013.01) [B25J 9/126 (2013.01); F16D 27/12 (2013.01); B25J 19/068 (2013.01); Y10S 901/19 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A soft actuator, comprising:
a power input shaft,
wherein a plurality of electromagnetic clutches are coaxially connected in series to the power input shaft,
wherein each electromagnetic clutch of the plurality of electromagnetic clutches comprises a bending elastic part arranged between a thrust plate and an electromagnetic clutch gear frame comprising arc sleeves,
each of the bending elastic parts is installed on and surrounding the arc sleeves of the electromagnetic clutch gear frame and contacts with a baffle of the electromagnetic clutch gear frame,
each bending elastic part is connected with a clutch output gear of each of the plurality of electromagnetic clutches through the electromagnetic clutch gear frame,
the electromagnetic clutch gear frame is fixedly connected with the clutch output gear and rotates coaxially; and
each bending elastic part added to the soft actuator is configured to realize different stiffness adjustments of the soft actuator through different combinations of power-on states of each electromagnetic clutch.