Drive system for an inverse kinematics device

F - Mech Eng,Light,Heat,Weapons – 16 – H

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F16H 21/46 (2006.01) F16H 7/00 (2006.01) F16H 35/02 (2006.01)

Patent

CA 2321925

The inventive drive system contains two oval wheels (9, 10), which are each fixed on one of two axles (3, 4). Said axles are parallel to one another and rotate in opposite directions in bearings (2) located in a plate (1). Two identical gear wheels (15) which engage with one another and which rotate uniformly each comprise an elastic coupling (14). A wheel (12) is flange- mounted on each of said elastic couplings. The wheels (12) and the oval wheels (9, 10) are each arranged for holding a tension element (11), for example, a chain, a toothed belt or a reinforced round cord. The one wheel (12) drives the left oval wheel (9) with the one tension element (11), and the other wheel (12) drives the right oval wheel (10) with an additional tension element (11). When moving on rolling contact, the oval wheels (9, 10) satisfy the condition tan1 = 1/2tan2, whereby 1 is, for example, the angle of rotation of the left axle (3), and 2 is that of the right axle (4).

L'invention concerne un système d'entraînement comprenant deux roues ovales (9, 10) qui sont fixées chacune sur un arbre rotatif (3, 4). Les deux arbres sont parallèles et tournent en sens inverse dans des supports (2) placés dans une plaque (1). Deux roues dentées (15) identiques et tournant de manière homogène, en prise l'une avec l'autre, comportent chacune un accouplement élastique (14) sur lequel est bridée respectivement une roue (12). Les roues (12) et les roues ovales (9, 10) sont chacune conçues pour recevoir un élément de traction (11), par exemple une chaîne, une courroie crantée ou un joint torique renforcé. Une roue (12) entraîne avec l'élément de traction (11) la roue ovale gauche (9) tandis que l'autre roue (12) entraîne avec un autre élément de traction (11) la roue ovale droite (10). Lorsqu'elles se rapprochent l'une de l'autre en tournant, les roues ovales (9, 10) satisfont à la relation tan?¿1? = 1/2tan?¿2?, ?¿1? représentant par exemple l'angle de rotation de l'arbre gauche (3), et ?¿2? celui de l'arbre droit (4).

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