# US 12,214,488 B2 · Robotic arm and robot

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- Number: US 12,214,488 B2
- Document ID: US12214488B2
- Status: Granted
- Kind: B2
- Application number: 16/558,985
- Filed: 2019-09-03
- Published: 2021-03-04
- Granted: 2025-02-04
- Earliest claimed: 2019-09-03
- Assignees: Shanghai Flexiv Robotics Technology Co., Ltd.; Flexiv Ltd.
- Applicants: Shanghai Flexiv Robotics Technology Co., Ltd.; Flexiv Ltd.
- Inventors: Shiquan Wang; Hao Jiang; Ran An; Xuesen Li
- Web page: https://patentgrep.com/patent/US12214488B2

## CPC

- B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)}
- B25J 9/046: {Revolute coordinate type}
- B25J 9/06: characterised by multi-articulated arms
- B25J 17/00: Joints
- B25J 18/00: Arms
- B25J 19/02: Sensing devices
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A robotic arm includes multiple joints and multiple links. The links are connected successively by the joints. At least two of the joints may each comprise a sensor configured to measure force and torque information in multiple DOF of its respective joint. In certain implementations, the sensor may be located between an input part of the respective one of the at least two joints and an output part of the respective one of the at least two joints.

## Claims

### Claim 1

A robotic arm, comprising:
a plurality of joints including three or more joints that include at least a pitch joint and a roll joint, wherein each of the joints includes a motor, a gear drive, and a force and torque sensor, and the force and torque sensor is provided outside an input end and an output end of a respective one of the plurality of joints;
a plurality of links connected successively by the plurality of joints, wherein the force and torque sensor is configured to measure force and torque information of the respective one of the plurality of joints in multiple degrees of freedom (DOF), and wherein a structure stiffness of the force and torque sensor in an actuation direction of the respective one of the plurality of joints is lower than a structure stiffness of the force and torque sensor in other directions.

### Claim 2

A robot comprising:
a plurality of joints including three or more joints that include at least a pitch joint and a roll joint; wherein each of the joints includes a motor, a gear drive and a force and torque sensor, and the force and torque sensor is provided outside an input end and an output end of a respective one of the plurality of joints, and
a plurality of links connected successively by the plurality of joints, wherein each the force and torque sensor is configured to measure force and torque information of the respective one of the plurality of joints in multiple degrees of freedom (DOF), and wherein a structure stiffness of the force and torque sensor in an actuation direction of the respective one of the plurality of joints is lower than a structure stiffness of the force and torque sensor in other directions.

### Claim 3 (depends on 2)

The robot of claim 2, wherein the sensor is configured to measure a torque applied on the respective one of the plurality of joints and force and torque information of at least one additional DOF of the respective one of the plurality of joints.

### Claim 4 (depends on 1)

The robotic arm of claim 1, wherein the sensor is configured to measure force and torque information comprising only a torque applied in an actuation direction of the respective one of the plurality of joints and a force applied in a direction perpendicular to the actuation direction.

### Claim 5 (depends on 2)

The robot of claim 2, wherein the sensor is configured to measure force and torque information comprising only a torque applied in an actuation direction of the respective one of the plurality of joints and a force applied in a direction perpendicular to the actuation direction.