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发明公开
CN103775597A 用于交互作用工作及快速运动的双差动半主动致动器 失效 - 权利终止

用于交互作用工作及快速运动的双差动半主动致动器
摘要：
本发明是一种用于与机械负载交互作用的机械差动致动器。该机械差动致动器包括第一及第二半主动次致动器、速度来源以及具有三个交互作用端口的第一及第二机械差动。第一机械差动包括连结至速度来源的第一交互作用端口以及连结至第一半主动次致动器的第二交互作用端口及第三交互作用端口。第二机械差动包括连结至速度来源的第一交互作用端口以及连结至第二半主动次致动器的第二交互作用端口及第三交互作用端口。最后，第一及第二机械差动的第二交互作用端口连结在一起而形成配置成连结至负载的输出。
摘要（英）：

The present invention relates a mechanical differential actuator for interacting with a mechanical load. The mechanical differential actuator comprises first and second semi-active sub-actuators, a velocity source and first and second mechanical differentials having three interaction ports each. The first mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the first semi-active sub-actuator. The second mechanical differential includes a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the second semi-active sub-actuator. Finally, the second interaction ports of the first and second mechanical differentials are coupled together to form an output which is configured so as to be coupled to the load.

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