Vacuum-environment robot with distributed actuators

A method, comprising:

• providing a drive;
• providing a movable arm connected to the drive, the movable arm comprising a first link connected to the drive at a shoulder, a second link connected to the first link at an elbow, and at least one third link connected to the second link at a wrist;
• and
• providing at least one first actuator and at least one first controller located in the second link and in communication with a master controller external to the second link, the at least one first actuator with the at least one first controller, in a coordinated action with the master controller, configured to cause a rotation of the at least one third link about wrist to facilitate a corrected position of the at least one third link;
• and
• wherein one or more of a thermal management, a power distribution, or a communication is effected through the second link.

An apparatus, comprising:

• a drive;
• a movable arm comprising,
• a first link having a first control module and being rotatable about the drive,
• a second link having a second control module and being connected to the first link at a first rotary joint, and
• at least one third link coupled to the forearm at a second rotary joint;
• at least one first actuator located in the first link and with the first control module and a master controller external to the first link, in a coordinated action between the first control module and the master controller, being configured to cause a rotation of the second link about the first rotary joint;
• at least one second actuator located in the second link and with the second control module and the master controller external to the second link, in a coordinated action between the second control module and the master controller, configured to cause a rotation of the at least one third link about the second rotary joint to facilitate a corrected position of the at least one third link;
• and
• at least one active component associated with the at least one third link;
• wherein one or more of a thermal management, a power distribution, or a communication is effected through the second rotary joint to cause an interaction of the at least one active component with the second control module of the second link.

A method comprising,

• providing a drive;
• providing a movable arm comprising,
• a first link having a first control module and being connected to and rotatable about the drive,
• a second link having a second control module and being connected to the first link at a first rotary joint, and
• at least one third link coupled to the forearm at a second rotary joint;
• providing at least one first actuator located in the first link and with the first control module and a master controller external to the first link, where the first control module in a coordinated action with the master controller, is configured to cause a rotation of the second link about the first rotary joint;
• providing at least one second actuator located in the second link and with the second control module and the master controller external to the second link, where the second control module in a coordinated action with the master controller, is configured to cause a rotation of the at least one third link about the second rotary joint to facilitate a corrected position of the at least one third link;
• and
• providing at least one active component associated with the at least one third link;
• wherein one or more of a thermal management, a power distribution, or a communication is effected through the second rotary joint to cause an interaction of the at least one active component with the second control module of the second link.

An apparatus, comprising:

• a drive;
• and
• a movable arm connected to the drive, the movable arm comprising,
• an upper arm rotatably coupled to the drive at a shoulder, the upper arm having a first actuator located within the upper arm,
• a forearm rotatably coupled to the upper arm, the forearm having a second actuator and a third actuator located within the forearm,
• a first pair of end-effectors rotatably coupled to the forearm at a rotary joint and configured to be moved by the second actuator, and
• a second pair of end-effectors rotatably coupled to the forearm at the rotary joint and configured to be moved by the third actuator;
• wherein the first pair of end-effectors is configured to move independently of the second pair of end-effectors;
• and
• wherein at least the second actuator and the third actuator are configured to be controlled by a control module located in at least the forearm and a master controller located external to the forearm, where the control module in a coordinated action with the master controller, is configured to control one or more of a thermal management, a power distribution, or a communication to the first pair of end-effectors and the second pair of end-effectors to facilitate a corrected position of at least the first pair of end-effectors or the second pair of end-effectors.