The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

A backdrive braking element is provided for preventing backdrive of a shaft. It includes a poly-lobed locking mechanism including an unlock shaft that has a polygon shaped inside profile and is coupled to a poly lock drive and brake assembly. The poly lock drive and brake assembly includes a plurality of poly lock drive and brake segments and is contained within the interior cavity of a housing.

A backdrive braking element is provided for preventing backdrive of a shaft. It includes a poly-lobed locking mechanism including an unlock shaft that has a polygon shaped inside profile and is coupled to a poly lock drive and brake assembly. The poly lock drive and brake assembly includes a plurality of poly lock drive and brake segments and is contained within the interior cavity of a housing.

The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

A wedge clutch assembly for transferring torque from an engine to an output shaft, comprising a clutch carrier comprising an axial friction surface and a radially inwardly facing surface, a hub comprising a first radially outwardly facing surface having grooves positioned circumferentially thereon and detents positioned within the grooves, a wedge plate comprising an axial friction surface, a second radially outwardly facing surface, and a second radially inwardly facing surface having recesses, a pressure plate concentrically arranged within the first radially inwardly facing surface and displaceable such that in an engaged mode, an axial force is applied to the pressure plate, in a first axial direction, to engage the wedge plate with the clutch carrier such that torque is transferred from the engine to the output shaft, and in a disengaged mode, the wedge plate is independently rotatable from the clutch carrier.

A wedge plate for a wedge clutch assembly for selectively engaging or disengaging an inner hub and an outer ring including first wedge plate segments arranged radially between the inner hub and outer ring, each of the first wedge plate segments including a first circumferentially extending groove and a first retaining element disposed in the first circumferentially extending groove and urging the first wedge plate segments radially inward to contact the inner hub.

A unitized wedge clutch includes a first race, a second race, a wedge segment, and a first side plate. The first race has a circumferential groove with a first angled surface and a second angled surface. The second race has a first ramp surface extending radially outward in a circumferential direction. The wedge segment is arranged in a radial space between the first race and the second race. The wedge segment has a third angled surface aligned with the first angled surface and a fourth angled surface aligned with the second angled surface, a second ramp surface aligned with the first ramp surface, and a first aperture. The first side plate has a first protrusion extending through the first aperture. The unitized wedge clutch may have a plurality of wedge segments arranged circumferentially in a radial space between the first race and the second race.

A unitized wedge clutch includes a first race, a second race, a wedge segment, and a first side plate. The first race has a circumferential groove with a first angled surface and a second angled surface. The second race has a first ramp surface extending radially outward in a circumferential direction. The wedge segment is arranged in a radial space between the first race and the second race. The wedge segment has a third angled surface aligned with the first angled surface and a fourth angled surface aligned with the second angled surface, a second ramp surface aligned with the first ramp surface, and a first aperture. The first side plate has a first protrusion extending through the first aperture. The unitized wedge clutch may have a plurality of wedge segments arranged circumferentially in a radial space between the first race and the second race.