Robotic end effector
OwnerHaink Tu, Steven Potter +1inventors
InventorsHaink Tu, Steven Potter, Alberto Rodriguez
Life of this patent
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Abstract
An apparatus for a robot includes a set of at least three proximal links. Each proximal link is configured to rotate about a respective joint. Each joint is aligned on a common axis. The apparatus also includes a set of at least three distal links. Each distal link is coupled to a corresponding proximal link and configured to rotate about a second respective joint. Each proximal link comprises an actuator configured to move at least one of the proximal link or the corresponding distal link.
Claims20
An apparatus for a robot comprising:
- a set of at least three proximal links, each proximal link configured to rotate about a respective joint, each joint aligned on a common axis;
- and
- a set of at least three distal links, each distal link coupled to a corresponding proximal link and configured to rotate about a second respective joint,
- wherein each proximal link comprises an actuator configured to move at least one of the proximal link or the corresponding distal link.
A method comprising:
- rotating, by a first actuator assembly in a first proximal link of a robotic end effector, the first proximal link about a first joint by a first angle;
- rotating, by a second actuator assembly in a second proximal link of the robotic end effector, the second proximal link about a second joint by a second angle;
- rotating, by a third actuator assembly in a third proximal link of the robotic end effector, the third proximal link about a third joint by a third angle;
- and
- rotating, by a fourth actuator assembly in the first proximal link of the robotic end effector, a first distal link coupled to the first proximal link at a fourth joint by a fourth angle,
- wherein the first joint, the second joint and the third joint are aligned along a common rotational axis.
An actuator assembly for a robot comprising:
- an electric motor having a rotor configured to rotate about a rotary axis;
- a first spur gear mechanically coupled to the rotor and configured to rotate about a first intermediate axis different from the rotary axis;
- and
- a planetary gear mechanically coupled to the first spur gear, the planetary gear defining an axis of rotation of a robotic joint, wherein the axis of rotation of the robotic joint is displaced from the rotary axis of the rotor of the electric motor.
Dependencies are inferred from the claim text.