System and method for conversion of rotational motion into linear actuation by mechanical stacking or unstacking of connected links

Abstract

A Link Stacking Actuator is a scalable device that will contract or expand upon the application of rotational force. This rotational force is converted into linear force in contraction and this contraction can be released for expansion. Contraction and expansion are determined by the relative direction of rotational force applied. The device only generates linear force when contracting. Expansion is simply a relaxation of the device. The conversion of rotational force to contraction is achieved by mechanical stacking of interconnected links that fold or stack into a structure when rotational torsion is applied from a motor against a fixed mount-point or another counter-rotating motor. When used in oppositional pairs, these devices can be used to actuate hinged beams such as robotic arms, legs, and fingers. The device can also be used for direct lift applications when configured in multiple parallel sets.