Deployable robotic arm

A robotic arm system, comprising:

• a mechanical ground;
• a first joint;
• a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
• a manipulator link coupled to the first joint;
• a second joint coupled to the manipulator link distal from the first joint;
• an elevation linkage coupled to the manipulator link at the second joint;
• a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom;
• and
• an end effector coupled to the wrist;
• and
• a deployment system connecting the manipulator to the mechanical ground, the deployment system comprising a deployment link, wherein the manipulator is rotatable relative to the deployment link at the first joint, wherein the deployment link and the manipulator are movable between a stowed configuration and a deployed configuration.

A robotic arm system, comprising:

• a mechanical ground;
• a first joint;
• and
• a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
• a manipulator link coupled to the first joint;
• a second joint coupled to the manipulator link distal from the first joint;
• an elevation linkage coupled to the manipulator link at the second joint;
• a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom;
• and
• an end effector coupled to the wrist, wherein the end effector comprises:
• a body;
• first gripper rotatably coupled to the body, the body and the first gripper forming a first payload receiving area;
• a rotary cam coupled to the first gripper;
• and
• an end effector actuator to drive the rotary cam, wherein the rotary cam is movable by the end effector actuator to open and close the first gripper.

A robotic arm system, comprising:

• a mechanical ground;
• a first joint;
• and
• a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
• a manipulator link coupled to the first joint;
• a second joint coupled to the manipulator link distal from the first joint;
• an elevation linkage coupled to the manipulator link at the second joint;
• a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom;
• and
• an end effector coupled to the wrist,
• wherein the robotic arm system comprises a yaw, roll, pitch, yaw, yaw, elevation kinematic chain.

A robotic arm system, comprising:

• a mechanical ground;
• a first joint;
• and
• a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
• a manipulator link coupled to the first joint;
• a second joint coupled to the manipulator link distal from the first joint;
• an elevation linkage coupled to the manipulator link at the second joint;
• a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom;
• and
• an end effector coupled to the wrist,
• wherein the manipulator is self-leveling.

A robotic arm system, comprising:

• a mechanical ground;
• a first joint;
• and
• a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
• a manipulator link coupled to the first joint;
• a second joint coupled to the manipulator link distal from the first joint;
• an elevation linkage coupled to the manipulator link at the second joint, the elevation linkage comprising:
• a four-bar linkage including an upper link arranged parallel to a lower link and a first end link arranged parallel to a second end link, wherein the first end link and the second end link are coupled between the upper link and the lower link to form a parallelogram structure;
• a gravity compensating spring coupled to the parallelogram structure at a first spring attachment point and a second spring attachment point;
• and
• a spring adjustment actuator coupled to the first spring attachment point, a position of the first spring attachment point adjustable by the spring adjustment actuator;
• a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom;
• and
• an end effector coupled to the wrist.

A robotic arm system, comprising:

• a mechanical ground;
• a first joint;
• and
• a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
• a manipulator link coupled to the first joint;
• a second joint coupled to the manipulator link distal from the first joint;
• an elevation linkage coupled to the manipulator link at the second joint;
• a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom;
• and
• an end effector coupled to the wrist, wherein the end effector is adapted to radially grasp a payload.