Articulated robotic serial mechanism and method
AssigneePalo Alto Research Center Incorporated
InventorMark Yim
Life of this patent
Estimating the term…
Abstract
A robotic device may include a plurality of concatenated assemblies, a tendon slidably connected to the plurality of concatenated assemblies, and an actuator that moves the tendon. Each assembly of the concatenated plurality may include a joining member that neighbors an adjacent assembly, a linkage that may fixedly connect to the joining member and may pivotably connect to the adjacent assembly, and an appendage that may extend from the joining member to a length. The appendage may include a connector through which the tendon may be connected to slide through. The connector may be adjustably disposable along the length of the appendage to a specified position thereon. The appendage may extend in a direction at a specified angle relative to the linkage.
Claims20
A robotic device comprising:
- a plurality of concatenated assemblies, each assembly including:
- a joining member that neighbors an adjacent assembly;
- a linkage that fixedly connects to the joining member and pivotably connects to the adjacent assembly;
- an appendage that extends from the joining member along at least a lateral direction having a specified angle to the linkage;
- a tendon that slidably connects to at least one connector of the plurality of concatenated assemblies to form a connection;
- and
- an actuator that pulls the tendon in response to a command.
A robotic device comprising:
- first and second assemblies, the first assembly including:
- a first joining member that neighbors the second assembly;
- a first linkage that fixedly connects to the first joining member and pivotably connects to the second assembly;
- a first appendage that extends from the first joining member along a first lateral direction having an angle to the first linkage, the second assembly including:
- a first joining member that neighbors the second assembly;
- a second appendage that extends from the second joining member along a second lateral direction;
- a tendon slidably connected to at least one of the first connector and the second connector;
- and
- an actuator that pulls the tendon in response to a command.
A method for controlling a robotic device having a plurality of concatenated assemblies, the method comprising:
- fixedly connecting a linkage to a joining member of an assembly of the concatenated assemblies;
- extending an appendage from the joining member along at least a lateral direction having a specified angle to the linkage;
- attaching a connector to the appendage of at least one of the concatenated assemblies;
- pivotably connecting the linkage to an adjacent joining member of an adjacent assembly of the concatenated assemblies;
- connecting a tendon to slide through at least one appendage of the plurality of concatenated assemblies;
- and
- pulling the tendon by an actuator in response to a command.
Dependencies are inferred from the claim text.