Electric fluidic rotary joint actuator with pump

An articulated arm for a robot, the articulated arm comprising:

• a plurality of rigid link members including a first rigid link assembly and a second rigid link assembly, wherein the first rigid link assembly rotates about a proximal axis;
• an actuator for moving the second rigid link assembly in relation to the first rigid link assembly about a rotary axis, the actuator including a first fluid chamber, and a second fluid chamber, the actuator having a fluid supply assembly for moving fluid into and out of each of the first fluid chamber and the second fluid chamber;
• a control circuit, the control circuit being a closed loop control circuit that outputs a control signal to a motor of the fluid supply assembly based on a signal input to the control circuit indicating the current value of a parameter of the second rigid link assembly in relation to the first rigid link assembly and based on a signal input to the control circuit indicating a selected value of the parameter of the second rigid link assembly in relation to the first rigid link assembly

The articulated arm of claim. 22, wherein the articulated arm includes a rigid structural member defining one or more of a reservoir or a fluid supply line of the fluid supply assembly, the rigid structural member supported in a fixed position in relation to a fluid supply end of the first fluid chamber, the rigid structural member defining a spacing distance between the proximal axis and the rotary axis.

An articulated arm for a robot, the articulated arm comprising:

• a plurality of rigid link members including a first rigid link assembly and a second rigid link assembly, wherein the first rigid link assembly rotates about a proximal axis;
• an actuator for moving the second rigid link assembly in relation to the first rigid link assembly about a rotary axis, the actuator including a first fluid chamber, and a second fluid chamber, the actuator having a fluid supply assembly for moving fluid into and out of each of the first fluid chamber and the second fluid chamber;
• a rigid structural member defining a spacing distance between the proximal axis and the rotary axis, the rigid structural member further defining one or more of a fluid supply line or a reservoir of the fluid supply assembly.

An articulated arm for a robot, the articulated arm comprising:

• a plurality of rigid link members including a first rigid link assembly and a second rigid link assembly, wherein the first rigid link assembly rotates about a proximal axis;
• an actuator for moving the second rigid link assembly in relation to the first rigid link assembly about a rotary axis, the actuator including a first fluid chamber, and a second fluid chamber, the actuator having a fluid supply assembly for moving fluid into and out of each of the first fluid chamber and the second fluid chamber;
• wherein the actuator includes a member that defines an open volume intersected by the rotary axis.