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.

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 pulley structure may be equipped with an outer rotating body, an inner rotating body, and a coil spring provided between the outer rotating body and the inner rotating body. The coil spring is configured so as to undergo torsional deformation in a diameter-expanding or a diameter-contracting direction, thereby engaging the outer rotating body and the inner rotating body and transmitting torque, and to undergo torsional deformation in the direction opposite the direction in which torque is transmitted, thereby entering a disengaged state in which the coil spring slides with the outer rotating body or the inner rotating body, thus interrupting the transmission of torque. The number of windings of the coil spring is in a range between [M-0.125] and M (both inclusive), where M is a natural number.

A pulley structure may be equipped with an outer rotating body, an inner rotating body, and a coil spring provided between the outer rotating body and the inner rotating body. The coil spring is configured so as to undergo torsional deformation in a diameter-expanding or a diameter-contracting direction, thereby engaging the outer rotating body and the inner rotating body and transmitting torque, and to undergo torsional deformation in the direction opposite the direction in which torque is transmitted, thereby entering a disengaged state in which the coil spring slides with the outer rotating body or the inner rotating body, thus interrupting the transmission of torque. The number of windings of the coil spring is in a range between [M-0.125] and M (both inclusive), where M is a natural number.

In an aspect, a clutch assembly is provided that uses an electromagnet to generate a magnetic circuit which drives an armature to a position whereat it engages the clutch to operatively connect a rotating member to a stationary member. In embodiments wherein the armature initially rotates with the rotating member, the magnetic circuit passes through the stationary member. In embodiments wherein the armature is initially stationary, the magnetic circuit extends through the rotating member.

In an aspect, a clutch assembly is provided that uses an electromagnet to generate a magnetic circuit which drives an armature to a position whereat it engages the clutch to operatively connect a rotating member to a stationary member. In embodiments wherein the armature initially rotates with the rotating member, the magnetic circuit passes through the stationary member. In embodiments wherein the armature is initially stationary, the magnetic circuit extends through the rotating member.

A torque converter includes a torque converter body and a lock-up device. The torque converter body includes an impeller, a turbine having a turbine shell, and a stator. The lock-up device directly transmits a torque from a front cover to the turbine, and includes a damper portion and a clutch portion to which the torque from the front cover is inputted. The damper portion includes an output-side member, a plurality of elastic members and a holder plate. The output-side member is coupled to the turbine shell. The plurality of elastic members elastically couple the clutch portion and the output-side member in a rotational direction. The holder plate is rotatable relatively to the output-side member, and holds the plurality of elastic members. The holder plate is supported at an inner peripheral end thereof by an outer peripheral surface of the turbine shell and positions the damper portion in a radial direction.

A lock-up device includes a damper portion and a dynamic damper device. The damper portion damps vibration inputted from a front cover. The damper portion includes a driven plate coupled to a turbine shell of a torque converter body on a radially outside side. The dynamic damper device absorbs vibration transmitted from the driven plate to the turbine shell. The dynamic damper device includes at least one damper plate portion. The damper plate portion is coupled to the turbine shell on a radially outside side.