Patent ID: 6032548
Filing Date: 2000-03-07
Classification: A63H,B25J,Y10T

Abstract:
An apparatus for moving and monitoring the position of an appendage in a mechanical character, comprising:a processor operable for transmitting control signals defining movement commands for the appendage and receiving encoded electric feedback signals representing position information for the appendage;a motor operative for receiving the control signals from the processor and for rotationally driving a driver link in response to the control signals;a self-aligning clutch comprising a flexible link rotationally coupling the driver link to an output gear coupled to the appendage, the flexible link operable for maintaining rotational alignment between the driver link and the output gear when the appendage is not obstructed, and flexing to allow rotational misalignment between the driver link and the output gear when the appendage is obstructed, the flexible link further operable for storing energy resulting from rotational misalignment between the driver link and the output gear when the appendage is obstructed and returning the stored energy to realign the driver link and the output gear when the appendage becomes unobstructed; anda feedback circuit including;an encoder board that is rotationally stationary with respect to the output gear, the encoder board defining a conductive common trace and a plurality of conductive signal traces; anda conductive commutator electrically connected to the common trace and rotationally coupled to the output gear, the commutator defining a plurality of fingers in contact with the encoder board and configured to cause the signal traces of the encoder board to produce the encoded electric feedback signals as the conductive fingers sweep over the encoder board.