# US 2018/0021948 A1 · Electric fluidic rotary joint actuator with pump > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0021948 A1 - Document ID: US20180021948A1 - Status: Published application - Kind: A1 - Application number: 15/594,958 - Filed: 2017-05-15 - Published: 2018-01-25 - Earliest claimed: 2014-08-29 - Assignees: ABB Schweiz AG - Applicants: ABB Schweiz AG - Inventors: Harald Josef Staab; Jeremy NewKirk; Thomas Fuhlbrigge - Web page: https://patentgrep.com/patent/US20180021948A1 ## CPC - B25J 9/146: {Rotary actuators} - B25J 9/142: {comprising inflatable bodies} - Y10S 901/22: Fluid motor - 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}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract There is set forth herein an articulated arm, the articulated arm comprising a first rigid link assembly and a second rigid link assembly. The articulated arm can be configured so that the second rigid link assembly rotates in relation to the first link assembly about a rotary axis. The articulated arm can include an actuator for causing rotary movement of the second rigid, link assembly in relation to the first rigid link assembly about the rotary axis. The actuator can include a first fluid chamber, and a second fluid chamber. The articulated arm can include a fluid supply assembly for moving fluid into and out of the first fluid chamber and the second fluid chamber. ## Claims ### Claim 1 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 articulated arm is configured so that one or more component of the fluid supply assembly is supported in a fixed position in relation to a fluid supply end of the first fluid chamber, the one or more component including a component selected from the group consisting of a reservoir, component of a pump, and a component of a motor. ### Claim 2 (depends on 1) The articulated arm of claim 1, wherein the one or more component includes a reservoir. ### Claim 3 (depends on 1) The articulated arm of claim 1, wherein the one or more component includes a component of the pump. ### Claim 4 (depends on 1) The articulated arm of claim 1, wherein the one or more component includes a component of a motor. ### Claim 5 (depends on 1) The articulated arm of claim 1, wherein each of a reservoir, a component of the pump, and a component of the motor are supported in a fixed position in relation to each of the proximal axis and the rotary axis. ### Claim 6 (depends on 1) The articulated arm of claim 1, wherein one or more rigid link member of unitary construction defines a spacing distance between the proximal axis and the rotary axis, and wherein the one or more rigid link member of unitary construction that defines a spacing distance between the proximal axis and the rotary axis includes a component of the fluid supply assembly. ### Claim 7 (depends on 1) The articulated arm of claim 1, wherein one or more rigid link member of unitary construction defines a spacing distance between the proximal axis and the rotary axis, wherein the one or more rigid link member of unitary construction that defines a spacing distance between the proximal axis and a rotary axis includes a rigid structural member that defines one or more of a fluid supply line or a reservoir of the fluid supply assembly. ### Claim 8 (depends on 1) The articulated arm of claim 1, wherein one or more rigid link member of unitary construction defines a spacing distance between the proximal axis and the rotary axis, wherein the one or more rigid link member of unitary construction that defines a spacing distance between the proximal axis and the rotary axis includes a housing for a motor of the fluid supply assembly. ### Claim 9 (depends on 1) The articulated arm of claim 1, wherein one or more rigid link member of unitary construction defines a spacing distance between the proximal axis and the rotary axis, wherein the one or more rigid link member of unitary construction that defines a spacing distance between the proximal axis and a rotary axis includes a rigid structural member that defines one or more of a fluid supply line or a reservoir of the fluid supply assembly and supports a load of the second rigid link assembly. ### Claim 10 (depends on 1) The articulated arm of claim 1, wherein the first rigid link assembly includes a succession of rigid link members of unitary construction that combine to extend a distance between the proximal axis and the rotary axis, wherein the succession of rigid link members of unitary construction includes a first rigid link member of unitary construction and a second rigid link member of unitary construction, the first rigid link member of unitary construction supporting a load of the second rigid link assembly and being provided by rigid structural member defining a reservoir of the fluid supply assembly, the first rigid link member of unitary construction supporting a load of the second rigid link assembly and being provided by a motor housing that houses the motor. ### Claim 11 (depends on 1) The articulated arm of claim 1, wherein the first rigid link assembly includes a first rigid link member of unitary construction that defines a spacing distance between the proximal axis and the rotary axis and extends a distance between the proximal axis and the rotary axis, wherein one or more component of the fluid supply assembly is supported in a fixed position in relation to the first rigid link member. ### Claim 12 (depends on 11) The articulated arm of claim 11, wherein the one or more component includes a component selected from the group consisting of a component of pump, a reservoir, and a component of a motor. ### Claim 13 (depends on 1) The articulated arm of claim 1, wherein a longitudinal axis of the first rigid link assembly extends through one or more component of the fluid supply assembly, wherein the one or more component includes a component selected from the group consisting of a pump and a motor. ### Claim 14 (depends on 1) The articulated arm of claim 1, wherein the rigid link assembly includes a rigid link member that extends a distance between the proximal axis and the rotary axis, and wherein the fluid supply assembly includes one or more component disposed in an interior of a housing defined by the rigid link member. ### Claim 15 (depends on 14) The articulated arm of claim 14, wherein the one or more component of the fluid supply assembly disposed in the interior of the housing includes a component selected from the group consisting of a pump, a reservoir, a check valve, and a motor. ### Claim 16 (depends on 1) The articulated arm of claim 1, wherein the fluid supply assembly includes a reservoir a pump and a motor, and wherein the first rigid link assembly includes a first rigid link member and a second rigid link member, each defining a spacing distance between the proximal axis a and the rotary axis A, each extending a distance between the proximal axis and the rotary axis A, and each supporting a load of the second rigid link assembly, wherein the first rigid link member and the second rigid link member define a housing interior, and wherein each of the reservoir, the pump and the motor are located within the housing interior. ### Claim 17 (depends on 1) The articulated arm of claim 1, wherein the fluid supply assembly includes a pump and a fluid supply line extending between the pump and the first fluid chamber, the fluid supply line defined by a rigid structural member, the fluid supply line being absent a flexible section, and the rigid structural member being supported in a fixed position in relation to the fluid supply end of the first fluid chamber. ### Claim 18 (depends on 1) The articulated arm of claim 1, wherein the fluid supply assembly includes a motor and a passive check valve for use in controlling a flow of fluid from a reservoir to the first fluid chamber, wherein the articulated arm includes a closed loop control circuit that outputs a control signal to the motor 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. ### Claim 19 (depends on 1) The articulated arm of claim 1, wherein the fluid supply assembly is configured to move fluid into and out of the first fluid chamber by operation of a pump without activation of an active valve. ### Claim 20 (depends on 1) The articulated arm of claim 1, wherein the actuator includes a member that defines an open volume intersected by the rotary axis. ### Claim 21 (depends on 1) The articulated arm of claim 1, wherein the fluid supply assembly includes a motor and a passive check valve for use in controlling a flow of fluid from a reservoir to the first fluid chamber, wherein the articulated arm includes a closed loop control circuit that outputs a control signal to the motor 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, wherein the fluid supply assembly is configured to move fluid into and out of the first fluid chamber by operation of a pump without activation of an active valve, and wherein the first fluid chamber is a fluid chamber selected from the group consisting of a fluid chamber defined by a flexible bladder and fluid chamber having an annular volume. ### Claim 22 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 ### Claim 23 (depends on 22) The articulated arm of claim 22, wherein the fluid supply assembly includes a reservoir and wherein the fluid supply assembly is configured to move fluid between the reservoir and the first fluid chamber without use of an active valve. ### Claim 24 (depends on 22) The articulated arm of claim 22, wherein the articulated arm is configured so that one or more component of the fluid supply assembly is supported in a fixed position in relation to a fluid supply end of the first fluid chamber. ### Claim 25 (depends on 22) 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. ### Claim 26 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. ### Claim 27 (depends on 22) The articulated arm of claim 22, wherein the fluid supply assembly includes a pump, and wherein for movement of the second rigid link assembly in relation to the first rigid link assembly in a first joint angle direction the fluid supply assembly operates the pump in a first direction without activation of an active valve, and wherein for movement of the second rigid link assembly in relation to the first rigid link assembly in a second joint angle direction opposite the first direction the fluid supply assembly operates the pump in a second direction opposite the first direction without activation of an active valve. ### Claim 28 (depends on 22) The articulated arm of claim 22, wherein the fluid supply assembly includes a motor having a maximum continuous power output rating, and wherein the articulated arm is configured to operate the motor to produce a power output above the maximum continuous power output rating. ### Claim 29 (depends on 22) The articulated arm of claim 22, wherein the fluid supply assembly is configured to move fluid into and out of the first fluid chamber by operation of a pump without activation of an active valve. ### Claim 30 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. ### Claim 31 (depends on 30) The articulated arm of claim 30, wherein the articulated arm includes a motor housing rigidly joined to the rigid structural member and defining a spacing distance between the proximal axis and the rotary axis. ### Claim 32 (depends on 30) The articulated arm of claim 30, wherein the fluid supply assembly includes a reservoir and wherein the articulated arm includes a passive check valve controlling a flow of fluid between the reservoir and the first fluid chamber. ### Claim 33 (depends on 30) The articulated arm of claim 30, wherein the fluid supply assembly includes a single motion generating device provided by a motor, and wherein the articulated arm includes a closed loop control circuit that outputs a control signal to the motor based on a signal indicating the current value of angle of the second rigid link assembly in relation to the first rigid link assembly and based on a signal indicating a selected value of the angle of the second rigid link assembly in relation to the first rigid link assembly. ### Claim 34 (depends on 30) The articulated arm of claim 30, wherein the articulated arm includes a muscle having the first fluid chamber, the muscle extending between the rigid structural member and the second rigid link assembly. ### Claim 35 (depends on 30) The articulated arm of claim 30, wherein the rigid structural member is a rigid structural member of unitary construction that supports a load of the second rigid link assembly. ### Claim 36 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. ### Claim 37 (depends on 36) The articulated arm of claim 36, wherein the member that defines an open volume is provided a cylinder, and wherein the cylinder further defines the first fluid chamber. ### Claim 38 (depends on 36) The articulated arm of claim 36, wherein the articulated arm includes a flexible conduit routed through the open volume.