Teleoperated robotic system
AssigneeSarcos LC
InventorsFraser M. Smith, Marc X. Olivier
Life of this patent
Estimating the term…
Abstract
A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
Claims13
A teleoperated robotic system, comprising:
- a master control arm having a plurality of support members coupled together about one or more joints to form one or more degrees of freedom corresponding to one or more degrees of freedom of a human arm;
- a slave arm having a plurality of support members coupled together about one or more joints to form one or more degrees of freedom corresponding to one or more degrees of freedom of the master control arm;
- a mobile platform maneuverable about a ground surface and within an operating environment, the mobile platform being configured to provide onboard support of the slave arm about the mobile platform to provide a mobile teleoperation function;
- and
- a lifting device coupled to the mobile platform, the lifting device comprising:
- a fixed arm having a first end and a second end, the fixed arm being coupled to the mobile platform about the second end, wherein one or more cogs are formed on the second end of the fixed arm;
- a bracket having a first end and a second end, the second end of the bracket being rotatably coupled to the first end of the fixed arm about a pivot point;
- a lift gear coupled to the first end of the bracket;
- a center gear coupling teeth of the lift gear to the cogs on the first end of the fixed arm;
- a lift carriage coupled to the lift gear to be raised or lowered relative to the mobile platform;
- a lifting arm supported on the lift carriage;
- and
- an actuator operable to raise or lower the lift carriage relative to the mobile platform, wherein the actuator has a second end coupled to the platform and a first end pivotably coupled to the bracket to facilitate rotation of the bracket around the pivot point upon actuation of the actuator;
- wherein the lifting device is configured to perform lifting in conjunction with operation of the slave arm to facilitate interaction with a load by both the lifting device and the slave arm.
Dependencies are inferred from the claim text.