US 10,562,180 B2Granted

Fluidic robotic actuator system and method

AssigneeOther Lab, LLC

InventorsMaria J. Telleria, Jonathan B. Pompa, Peter S. Lynn, Kevin B. Albert, Gabriel F. Hein, Thomas F. Allen, Kevin C. Kemper, Saul Thomas Griffith

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Abstract

A fluidic robotic actuator configured to assume at least a neutral position, the fluidic robotic actuator includes a first and second plate defining respective planar portions that are disposed in parallel planes in the neutral position. The fluidic robotic actuator also includes a plurality of elongated bellows extending between the first and second plates, the bellows each having a central main axis that is parallel to the central main axis of the other bellows in the neutral position, the main axis of the bellows being perpendicular to the parallel planes of the first and second plates in the neutral position, the bellows being coupled to the first and second plates at respective first and second ends of the bellows.

Claims19

Dependent claims

A robotic manipulator comprising:

a plurality of actuators configured to assume at least a neutral position, each of the actuators including:
a first and second plate defining respective planar portions that are disposed in parallel planes in the neutral position;
four elongated cylindrical bellows extending between the first and second plate and disposed in a square arrangement, the bellows each having a central main axis that is parallel to the central main axis of the other bellows in the neutral position, the main axis of the bellows being perpendicular to the parallel planes of the first and second plate in the neutral position, the bellows being coupled to the first and second plate at respective first and second ends, the bellows comprising convolutions along a length of the bellows between the first and second plate with the convolutions being defined by valley and peak portions;
an elongated spine extending between and coupled to the first and second plate, the spine disposed centrally within a cavity between the four bellows, the spine configured to bend but not expand or contract along the length of the spine;
dampening foam disposed in at least one of:
within an internal cavity defined by the bellows;
within the cavity between the four bellows and engaging the four bellows;
and
surrounding the four bellows;
and
a plurality of ribs disposed within the cavity and extending between the four bellows, each of the ribs engaging each of the four bellows in the valley portions of the convolutions, with the ribs extending in respective rib planes that are parallel to the parallel planes of the first and second plate in the neutral position;
a plurality of linkages, with a first linkage coupling a first and second actuator of the plurality of actuators, the first linkage disposed between the first and second actuator in series;
an end effector coupled to a distal end of the robotic manipulator;
a shared fluid source that is fluidically coupled with each of the bellows of the plurality of actuators via one or more fluid lines that at least extend internally through the series of the first linkage and the first and second actuator down the center of the first and second actuators;
and
a control system configured to control movement of the actuators by selectively changing a fluid pressure of individual bellows of the plurality of actuators via control lines that extend internally through the series of the first linkage and the first and second actuator.

13 more elements

A fluidic robotic actuator configured to assume at least a neutral position, the fluidic robotic actuator comprising:

a first and second plate defining respective planar portions that are disposed in parallel planes in the neutral position;
four elongated cylindrical bellows extending between the first and second plate and disposed in a square arrangement, the bellows each having a central main axis that is parallel to the central main axis of the other bellows in the neutral position, the main axis of the bellows being perpendicular to the parallel planes of the first and second plate in the neutral position, the bellows being coupled to the first and second plate at respective first and second ends, the bellows comprising convolutions along a length of the bellows between the first and second plate with the convolutions being defined by valley and peak portions;
an elongated spine extending between and coupled to the first and second plate, the spine disposed centrally within a cavity between the four bellows, the spine configured to bend but not expand or contract along the length of the spine;
dampening foam disposed in at least one of:
within an internal cavity defined by the bellows;
within the cavity between the four bellows and engaging the four bellows;
and
surrounding the four bellows;
and
a plurality of ribs disposed within the cavity and extending between the four bellows, each of the ribs engaging each of the four bellows in the valley portions of the convolutions, with the ribs extending in respective rib planes that are parallel to the parallel planes of the first and second plate in the neutral position.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/472,740Filed 29 Mar 2017 · us provisional application
Priority: 29 Mar 2016
Published: US 2017/0282360 A15 Oct 2017
Granted: 18 Feb 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

B25J 9/142
Fluid: comprising inflatable bodies
B25J 18/06
Arms: flexible
F16J 3/04
Diaphragms; Bellows; Bellows pistons: bellows
F15B 15/1404
Of the straight-cylinder type: in clusters, e.g. multiple cylinders in one block