US-12624751-B1 - Torque generation system and method

US12624751B1US 12624751 B1US12624751 B1US 12624751B1US-12624751-B1

Abstract

A torque generation system and associated method are disclosed. A torque generation system may include a torque generator, transmission mechanism, frictional interface, squeezer plate, output plate, piezoelectric actuator, and controller. The system may transition between a zero-torque condition, where the squeezer plate is disengaged, and a torque generation condition, where the controller activates the actuator to engage the frictional interface between various operational modes, which are implemented as various personalized modes. This engagement allows the input torque generated by the torque generator to be transmitted through the frictional interface to the output plate, producing an output torque.

Inventors

Erik C. Buehler

Assignees

Colorado Research Ventures, LLC

Dates

Publication Date: 20260512
Application Date: 20250430

Claims (17)

1 . A torque generation system to generate torque from one or more input torques, the torque generation system comprising: a first torque generator; a first transmission mechanism coupled to the first torque generator; a first frictional interface engaged to the first transmission mechanism, the first frictional interface comprising a first multi-plate clutch pack including a first series of metal plates stacked in alternating arrangement with a first series of dry friction plates; a first squeezer plate configured to adjoin the first frictional interface; a first output plate adjoined to the first frictional interface; a first piezoelectric actuator coupled to the first squeezer plate; a first preload distributor disposed between the first squeezer plate and the first frictional interface; a second torque generator; a second transmission mechanism coupled to the second torque generator; a second frictional interface engaged to the second transmission mechanism, the second frictional interface comprising a second multi-plate clutch pack including a second series of metal plates stacked in alternating arrangement with a second series of dry friction plates; a second squeezer plate adjoined to the second frictional interface; a second output plate adjoined to the second frictional interface; a link connecting the first output plate and the second output plate; a second piezoelectric actuator coupled to the second squeezer plate; a second preload distributor disposed between the second squeezer plate and the second frictional interface; a controller communicably coupled to the first torque generator, the second torque generator, the first piezoelectric actuator, and the second piezoelectric actuator; a zero-torque condition, wherein: the first squeezer plate is disengaged from the first frictional interface, the first preload distributor engaging the first squeezer plate to distribute a preload along the first piezoelectric actuator, thereby separating the first series of metal plates from the first series of dry friction plates; and the second squeezer plate is disengaged from the second frictional interface, the second preload distributor engaging the second squeezer plate to distribute a preload along the second piezoelectric actuator, thereby separating the second series of metal plates from the second series of dry friction plates; and a torque generation condition, wherein: the controller transmits an engagement signal to the first piezoelectric actuator and to the second piezoelectric actuator; in response to the engagement signal, the first piezoelectric actuator is actuated to apply a first force on the first squeezer plate; in response to the first force, the first squeezer plate engages the first frictional interface to compress the first series of metal plates against the first series of dry friction plates; the first squeezer plate engages the first frictional interface; the first torque generator generates a first input torque in a first torque direction; and the first input torque is transmitted to the first output plate as a first output torque via the first frictional interface; the second piezoelectric actuator is actuated to apply a second force on the second squeezer plate; in response to the second force, the second squeezer plate engages the second frictional interface to compress the second series of metal plates against the second series of dry friction plates; the second torque generator generates a second input torque in a second torque direction, wherein the second torque direction is opposite to the first torque direction; the second input torque is transmitted to the second output plate as a second output torque via the second frictional interface; and the first output plate and the second output plate collectively generate an output torque with the first output torque and the second output torque.
2 . The torque generation system of claim 1 , wherein the second squeezer plate is engaged to the second frictional interface in any one of: a partially engaged state; and a completely engaged state.
3 . The torque generation system of claim 2 , wherein: in the partially engaged state: the second piezoelectric actuator is actuated to partially adjoin the second squeezer plate to the second frictional interface to partially compress the second series of metal plates against the second series of dry friction plates; and in the completely engaged state: the second piezoelectric actuator is actuated to completely adjoin the second squeezer plate to the second frictional interface to fully compress the second series of metal plates against the second series of dry friction plates.
4 . The torque generation system of claim 1 , wherein: the controller generates an operational signal to the second torque generator; and in response to the operational signal, the second torque generator is operated in at least one operation mode, the at least one operation mode comprising at least one of: an operating mode; a passive braking mode; and a shutdown mode.
5 . The torque generation system of claim 1 , wherein the first squeezer plate is engaged to the first frictional interface in any one of: a partially engaged state; and a completely engaged state.
6 . The torque generation system of claim 5 , wherein: in the partially engaged state: the first piezoelectric actuator is actuated to partially adjoin the first squeezer plate to the first frictional interface to partially compress the first series of metal plates against the first series of dry friction plates; and in the completely engaged state: the first piezoelectric actuator is actuated to completely adjoin the first squeezer plate to the first frictional interface to fully compress the first series of metal plates against the first series of dry friction plates.
7 . The torque generation system of claim 1 , wherein: the controller generates an operational signal to the first torque generator; and in response to the operational signal, the first torque generator is operated in at least one operation mode, the at least one operation mode comprising at least one of: an operating mode; a passive braking mode; and a shutdown mode.
8 . A torque generation method for generating torque from one or more input torques, the torque generation method comprising: providing a first torque generator; providing a first transmission mechanism coupled to the first torque generator; providing a first frictional interface engaged to the first transmission mechanism, the first frictional interface comprising a first multi-plate clutch pack including a first series of metal plates stacked in alternating arrangement with a first series of dry friction plates; providing a first squeezer plate configured to adjoin the first frictional interface; providing a first output plate adjoined to the first frictional interface; providing a first piezoelectric actuator coupled to the first squeezer plate; providing a first preload distributor disposed between the first squeezer plate and the first frictional interface; providing a first preload distributor disposed between the first squeezer plate and the first frictional interface; providing a second torque generator; providing a second transmission mechanism coupled to the second torque generator; providing a second frictional interface engaged to the second transmission mechanism, the second frictional interface comprising a second multi-plate clutch pack including a second series of metal plates stacked in alternating arrangement with a second series of dry friction plates; providing a second squeezer plate adjoined to the second frictional interface; providing a second output plate adjoined to the second frictional interface; providing a link connecting the first output plate and the second output plate; providing a second piezoelectric actuator coupled to the second squeezer plate; providing a second preload distributor disposed between the second squeezer plate and the second frictional interface; providing a second preload distributor disposed between the second squeezer plate and the second frictional interface; and providing a controller communicably coupled to the first torque generator, the second torque generator, the first piezoelectric actuator, and the second piezoelectric actuator; and transitioning the first frictional interface between: a zero-torque condition, comprising: disengaging the first squeezer plate from the first frictional interface; and disengaging the second squeezer plate from the second frictional interface, wherein the first preload distributor engages the first squeezer plate to distribute a preload along the first piezoelectric actuator, thereby disengaging the first squeezer plate from the first frictional interface, and the second preload distributor engages the second squeezer plate to distribute a preload along the second piezoelectric actuator, thereby disengaging the second squeezer plate from the second frictional interface; a torque generation condition, comprising: generating by the controller, an engagement signal to the first piezoelectric actuator; in response to the engagement signal, actuating the first piezoelectric actuator for applying a first force on the first squeezer plate; in response to the first force, engaging the first squeezer plate with the first frictional interface; generating with the first torque generator, a first input torque in a first torque direction; transmitting the first input torque to the first output plate as a first output torque via the first frictional interface; and the torque generation condition comprising: generating by the controller, an engagement signal to the second piezoelectric actuator; in response to the engagement signal, the second piezoelectric actuator is actuated to apply a second force on the second squeezer plate, in response to the second force, the second squeezer plate engages the second frictional interface; generating by the second torque generator, a second input torque in a second torque direction, wherein the second torque direction is any one of: opposite to the first torque direction; or equivalent to the first torque direction; transmitting the second input torque to the second output plate as a second output torque via the second frictional interface; and collectively generating with the first output plate and the second output plate, an output torque with the first input torque and the second input torque.
9 . The torque generation method of claim 8 , wherein engaging the second squeezer plate with the second frictional interface further comprises: engaging the second squeezer plate with the second frictional interface in any one of: a partially engaged state; and a completely engaged state.
10 . The torque generation method of claim 9 , wherein engaging the second squeezer plate with the second frictional interface further comprises: in the partially engaged state: the second piezoelectric actuator is actuated to partially adjoin the second squeezer plate to the second frictional interface; and in the completely engaged state: the first piezoelectric actuator is actuated to completely adjoin the second squeezer plate to the second frictional interface.
11 . The torque generation method of claim 8 and further comprising: generating by the controller, an operational signal to the second torque generator; and in response to the operational signal, the second torque generator is operated in at least one operation mode, the at least one operation mode comprising at least one of: an operating mode; a passive braking mode; and a shutdown mode.
12 . The torque generation method of claim 8 , wherein engaging the first squeezer plate with the first frictional interface further comprises: engaging the first squeezer plate with the first frictional interface in any one of: a partially engaged state; and a completely engaged state.
13 . The torque generation method of claim 12 , wherein engaging the first squeezer plate with the first frictional interface further comprises: in the partially engaged state: the first piezoelectric actuator is actuated to partially adjoin the first squeezer plate to the first frictional interface; and in the completely engaged state: the first piezoelectric actuator is actuated to completely adjoin the first squeezer plate to the first frictional interface.
14 . The torque generation method of claim 8 and further comprising: generating by the controller, an operational signal to the first torque generator; and in response to the operational signal, the first torque generator is operated in at least one operation mode, the at least one operation mode comprising at least one of: an operating mode; a passive braking mode; and a shutdown mode.
15 . A torque generation system to generate torque from one or more input torques, the torque generation system comprising: a first torque generator; a first transmission mechanism coupled to the first torque generator; a first frictional interface engaged to the first transmission mechanism, the first frictional interface comprising a first multi-plate clutch pack including a first series of metal plates stacked in alternating arrangement with a first series of dry friction plates; a first squeezer plate configured to adjoin the first frictional interface; a first output plate adjoined to the first frictional interface; a first piezoelectric actuator coupled to the first squeezer plate; a first preload distributor disposed between the first squeezer plate and the first frictional interface; a second torque generator; a second transmission mechanism coupled to the second torque generator; a second frictional interface engaged to the second transmission mechanism, the second frictional interface comprising a second multi-plate clutch pack including a second series of metal plates stacked in alternating arrangement with a second series of dry friction plates; a second squeezer plate adjoined to the second frictional interface; a second output plate adjoined to the second frictional interface; a link connecting the first output plate and the second output plate; a second piezoelectric actuator coupled to the second squeezer plate; a second preload distributor disposed between the second squeezer plate and the second frictional interface; a controller communicably coupled to the first torque generator and the first piezoelectric actuator; a partially engaged state, wherein: the controller transmits a partial engagement signal to the first piezoelectric actuator and to the second piezoelectric actuator; in response to the partial engagement signal, the first piezoelectric actuator is actuated to partially adjoin the first squeezer plate to the first frictional interface to partially compress the first series of metal plates against the first series of dry friction plates; the first torque generator generates a first input torque in the first torque direction; the first input torque is transmitted to the first output plate as a first output torque via the first frictional interface; the second piezoelectric actuator is actuated to partially adjoin the second squeezer plate to the second frictional interface; the second torque generator generates a second input torque in a second torque direction; and the second input torque is transmitted to the second output plate as a second output torque via the second frictional interface; and a completely engaged state, wherein: the controller transmits a complete engagement signal to the first piezoelectric actuator; in response to the complete engagement signal, the first piezoelectric actuator is actuated to completely adjoin the first squeezer plate to the first frictional interface to fully compress the first series of metal plates against the first series of dry friction plates; the first torque generator generates a first input torque in a first torque direction; and the first input torque is transmitted to a first output plate as the first output torque via the first frictional interface; the second piezoelectric actuator is actuated to completely adjoin the second squeezer plate to the second frictional interface to fully compress the second series of metal plates against the second series of dry friction plates; the second torque generator generates a second input torque in a second torque direction; the second input torque is transmitted to the second output plate as a second output torque via the second frictional interface; and the first output plate and the second output plate collectively generate an output torque with the first output torque and the second output torque.
16 . The torque generation system of claim 15 , wherein the first piezoelectric actuator is actuated to adjoin partially, or completely, to the first squeezer plate to the first frictional interface to compress the first series of metal plates against the first series of dry friction plates in accordance with one or more real time personalized modes.
17 . The torque generation system of claim 15 , wherein the second piezoelectric actuator is actuated to adjoin partially, or completely to the second squeezer plate to the second frictional interface to compress the second series of metal plates against the second series of dry friction plates in accordance with one or more real time personalized mode.

Description

TECHNICAL FIELD This disclosure pertains, but not by limitation, to the field of torque generation for power transmission in, for example, robotics. More particularly, the disclosure relates to a system and method for generating torque with a plurality of torque inputs in accordance with various operational states and personalized modes. BACKGROUND Traditional clutch systems use mechanical, hydraulic, or electromagnetic actuation, often causing delays, inefficiencies, and excessive energy consumption. Further, traditional clutches operate on fixed or limited personal profiles. For example, an actuator may be optimized as a pure torque source for one application, while another may prioritize stiffness modulation or damping characteristics. In systems requiring multiple modes of operation, engineers often resort to using multiple actuators or complex mechanical linkages, thereby adding weight, increasing costs, and complicating controls. This compartmentalized approach hinders versatility and limits the ability of systems to adapt dynamically to changing operational conditions in real-time, hence limiting their effectiveness in high-speed robotic applications. SUMMARY A torque generation system and associated method are disclosed. A torque generation system may include a torque generator, transmission mechanism, frictional interface, squeezer plate, output plate, piezoelectric actuator, and controller. The system may transition between a zero-torque condition, where the squeezer plate is disengaged, and a torque generation condition, where the controller activates the actuator to engage the frictional interface. This engagement allows the input torque generated by the torque generator to be transmitted through the frictional interface to the output plate, producing an output torque. The system enables controlled torque transfer by dynamically adjusting engagement through the piezoelectric actuator in response to controller signals. The torque generation system and method are disclosed in detail hereinafter. A torque generation system is disclosed. The system may include a first torque generator and a first transmission mechanism operatively coupled to the first torque generator. The system may further include a first frictional interface engaged with the first transmission mechanism and a first squeezer plate configured to adjoin the first frictional interface. Additionally, the system may include a first output plate adjoined to the first frictional interface and a first piezoelectric actuator coupled to the first squeezer plate. A controller may be communicatively coupled to both the first torque generator and the first piezoelectric actuator. The system may include a zero-torque condition in which the first squeezer plate is disengaged from the first frictional interface. The system may also include a torque generation condition, wherein the controller may generate an engagement signal to the first piezoelectric actuator. In response to the engagement signal, the first piezoelectric actuator may be actuated to apply a first force on the first squeezer plate, which may cause the first squeezer plate to engage with the first frictional interface. In this state, the first torque generator may generate a first input torque in a first torque direction, and the first input torque may be transmitted to the first output plate as a first output torque via the first frictional interface. In an illustrative configuration, a torque generation method for generating torque from one or more input torques is disclosed. The method may include providing a first torque generator and a first transmission mechanism operatively coupled to the torque generator. The method may further include providing a first frictional interface engaged with the transmission mechanism and a first squeezer plate configured to interface with the frictional interface. Additionally, the method may include providing a first output plate adjoined to the frictional interface and a first piezoelectric actuator coupled to the squeezer plate. A controller may be communicatively coupled to both the torque generator and the piezoelectric actuator. The method may include transitioning the frictional interface between a zero-torque condition, in which the squeezer plate and the output plate are disengaged from the frictional interface, and a torque generation condition. In the torque generation condition, the controller may generate an engagement signal to the piezoelectric actuator, which, in response, may actuate to apply a force on the squeezer plate. This force may cause the squeezer plate to engage with the frictional interface, allowing the first torque generator to produce an input torque in a specified direction. The input torque may then be transmitted through the frictional interface to the output plate, generating an output torque. In an illustrative configuration, a torque generation system is disclosed. The torque generation system may include a