System and method for creating movement utilizing a servo mechanism with

Abstract

A system for providing self-alignment of an appendage or other movable part comprising an input device, a self-aligning clutch, a processor, a feedback sensor, and a timer. The input device drives a set of gears including a partial output gear. The self-aligning clutch is coupled to the output gear and moves the appendage in response to the rotational motion of the output gear. The self-aligning clutch includes a flexible link for transferring energy from the output gear to the appendage and for maintaining the relative alignment between the appendage and the output gear. When an obstruction prevents the appendage from moving to the desired position, the flexible link stores energy. After the obstruction is removed, the flexible link releases the stored energy to move the appendage so that the relative alignment between the output gear and the appendage is maintained. The self-aligning clutch prevents damage to the servo when an external force is applied to the appendage. The feedback sensor monitors the position of the output gear and provides the current position of the output gear. The processor controls power to the input device and calculates the difference between the current position and the desired position of the output gear. The processor provides a timer value to a timer based on the calculation performed by the processor. If the timer value expires before the output gear has moved to the desired position, the processor terminates power to the input device.