# US 2019/0314979 A1 · Seven-degrees-of-freedom humanoid robotic arms

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- Number: US 2019/0314979 A1
- Document ID: US20190314979A1
- Status: Published application
- Kind: A1
- Application number: 16/424,385
- Filed: 2019-05-28
- Published: 2019-10-17
- Earliest claimed: 2017-12-25
- Assignees: Beijing University of Technology
- Applicants: Beijing university of Technology
- Inventors: Guoyu ZUO; Hongxing LIU; Yuelei LIU; Yongkang QIU; Jiahao LU; Tingting PAN; Tao ZHENG
- Web page: https://patentgrep.com/patent/US20190314979A1

## CPC

- B25J 9/045: {Polar coordinate type}
- B25J 17/0258: {Two-dimensional joints}
- B25J 9/06: characterised by multi-articulated arms
- B25J 9/1025: {Harmonic drives (in general: F16H49/001)}
- B25J 9/126: {Rotary actuators}
- F16H 1/14: comprising conical gears only
- F16H 1/203: {with non-parallel axes (F16H1/22 takes precedence)}
- F16H 7/02: with belts; with V-belts
- F16H 35/06: Gearings designed to allow relative movement between supports thereof without ill effects (special means compensating for misalignment of axes F16H1/26, F16H1/48)
- F16H 49/001: {Wave gearings, e.g. harmonic drive transmissions}
- 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})
- F16H: GEARING

## Abstract

The present invention relates to robots and discloses a seven-degrees-of-freedom humanoid robotic arm, including an upper arm component and a forearm component. One end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder. One end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component, and the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand. The seven-degrees-of-freedom humanoid robotic arm of the present invention achieves a highly bionic design of a spherical joint of human shoulder, elbow and wrist joints.

## Claims

### Claim 1

A seven-degrees-of-freedom humanoid robotic arm, comprising
an upper arm component; and
a forearm component;
wherein one end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder; one end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component; and the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand.

### Claim 2 (depends on 1)

The robotic arm of claim 1, wherein the shoulder pitching joint comprises a first brushless DC electric motor, a first harmonic drive, a first fixer, a second fixer and a first potentiometer which are sequentially connected along a width direction of the shoulder; the first brushless DC electric motor drives the first harmonic drive to rotate about a first axis extending along the width direction of the shoulder; an output of the harmonic drive, the second fixer, the first potentiometer are sequentially connected along the width direction of the shoulder; one end of the first fixer is fixed at a robot body, and the other end is connected to the first potentiometer.

### Claim 3 (depends on 2)

The robotic arm of claim 2, wherein the shoulder yawing joint comprises a second brushless DC electric motor, a harmonic drive, a second fixer, an upper arm connection plate which are sequentially connected from back to front along a thickness direction of the shoulder; the second brushless DC electric motor drives the second harmonic drive to rotate along a second axis extending along the thickness direction of the shoulder; the second fixer is provided with a third fixer which is configured for mounting of a second potentiometer; and the upper arm connection plate is fixedly connected to an arm of the upper arm component.

### Claim 4 (depends on 3)

The robotic arm of claim 3, wherein the shoulder rolling joint comprises the upper arm connection plate, a third harmonic drive, a fifth fixer and a third brushless DC electric motor which are connected from top to bottom along a direction of the upper arm; the third harmonic drive and the third brushless DC electric motor are sequentially provided at upper and lower sides of the fifth fixer; an inner side upper arm plate and an outer side upper arm plate are provided below the fifth fixer, and are fixedly connected to the fifth fixer; the third brushless DC electric motor drives the third harmonic drive to rotate about a third axis extending along a direction of the upper arm; the fifth fixer is provided with a fourth fixer which is configured for mounting of a third potentiometer.

### Claim 5 (depends on 4)

The robotic arm of claim 4, wherein the elbow pitching joint is fixedly connected to the inner side upper arm plate and the outer side upper arm plate, comprising a fourth brushless DC electric motor and a fourth harmonic drive; the fourth brushless DC electric motor is fixed between the inner side upper arm plate and the outer side upper arm plate; the fourth harmonic drive is provided below the fourth brushless DC electric motor, and is fixedly connected to the fourth brushless DC electric motor, and is fixed at the outer side upper arm plate; the fourth brushless DC electric motor drives the fourth harmonic drive to rotate along a fourth axis extending along the thickness direction of the shoulder via a synchronous belt; and the outer side upper arm plate is provided with a fourth potentiometer and a sixth fixer which is configured for mounting of the sixth fixer.

### Claim 6 (depends on 5)

The robotic arm of claim 5, wherein the elbow rolling joint is mounted below the forearm connection plate, and the elbow rolling joint comprises a fifth harmonic drive, an eighth fixer, a fifth brushless DC electric motor; one end of the forearm connection plate is connected to an output of the fourth harmonic drive; the fifth harmonic drive and the fifth potentiometer are sequentially mounted at upper and lower sides of the eighth fixer; an inner side forearm plate and an outer side forearm plate are provided below the eighth fixer, and are fixedly connected the eighth fixer; the fifth brushless DC electric motor drives the fifth harmonic drive to rotate about a fifth axis extending along a direction of a forearm; and the eighth fixer is provided with a seventh fixer which is configured for mounting of a fifth potentiometer.

### Claim 7 (depends on 6)

The robotic arm of claim 6, wherein the wrist yawing joint is provided below the eighth fixer, comprising a first brushed DC electric motor, a first epicyclic gearbox, a first bevel gear, a third bevel gear and a sixth potentiometer; the first brushed DC electric motor drives the first epicyclic gearbox to rotate about a sixth axis extending along a length direction of the forearm; the first bevel gear is provided below the first epicyclic gearbox and meshes with the third bevel gear; the third bevel gear rotates along a seventh axis extending along the thickness direction of the shoulder; the seventh axis is provided with an eleventh fixer provided with a sixth potentiometer; and the third bevel gear is connected to a ninth fixer.

### Claim 8 (depends on 7)

The robotic arm of claim 7, wherein the wrist pitching joint is provided below the eighth fixer, comprising a second brushed DC electric motor, a second epicyclic gearbox, a second bevel gear, a double-head bevel gear and a fourth bevel gear; the second brushed DC electric motor drives the second epicyclic gearbox to rotate along an eighth axis extending along the length direction of the firearm; the second bevel gear is provided at the eighth axis, and is connected to an output of the second epicyclic gearbox; the second bevel gear is meshed with one gear head of the double-head bevel gear, and the other gear head of the double-head bevel gear is meshed with the fourth bevel gear; the fourth bevel gear is provided at a ninth axis extending along the thickness direction of the shoulder; the ninth axis is provided with a tenth fixer provided with a seventh potentiometer.