Robotic arm and wrist mechanisms
AssigneeiRobot Corporation
InventorsMark R. Claffee, Timothy R. Ohm, Erik Amaral, Annan M. Mozeika
Life of this patent
Estimating the term…
Abstract
A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.
Claims19
A robot comprising:
- a support;
- a movable member coupled to the support by a universal joint, the universal joint including:
- a first yoke attached to the movable member and including a first opening extending therethrough;
- a second yoke connected to the support and including a second opening extending therethrough;
- and
- a hinge link member pivotally coupled to the first yoke for relative rotation about a first hinge axis and pivotally coupled to the second yoke for relative rotation about a second hinge axis perpendicular to the first hinge axis, the hinge link member including a third opening extending therethrough;
- and
- a power and/or data transmission cable extending from the movable member through the first, second and third openings to the support.
Dependencies are inferred from the claim text.