Wrist mechanism for a robot arm
AssigneeBoston Dynamics AI Institute LLC
InventorsGregory Wei-Zhi Xie, Nicolas Enrique Rojas Libreros
Life of this patent
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Abstract
Among other things, a robotic system includes a base, a platform, a first actuator, a second actuator, a universal joint, and an additional joint. One end of a first universal joint part of the universal joint is coupled to the base and one end of a second universal joint part of the universal joint is coupled to the base. the first and second additional joint parts are configured to swivel around axes that are coincident with a center of the universal joint. At least the platform, the first universal joint part, and the first additional joint part are operable to perform a motion around the additional joint.
Claims20
A robotic system comprising:
- a base, a platform, a first actuator, and a second actuator;
- a universal joint including a first universal joint part and a second universal joint part;
- and
- an additional joint including a first additional joint part and a second additional joint part;
- wherein:
- an end of the first universal joint part of the universal joint is coupled to the base and an end of the second universal joint part of the universal joint is coupled to an end of the base;
- the first additional joint part and the second additional joint part are configured to swivel around axes that are coincident with a center of the universal joint;
- the second additional joint part of the additional joint is operable to be fixedly positioned at an angle around an axis of the additional joint that is coincident with the center of the universal joint;
- and
- at least the platform, the first universal joint part of the universal joint, and the first additional joint part of the additional joint are operable to perform a motion around the additional joint.
A robotic system comprising:
- a base, a platform, a first actuator, and a second actuator;
- a universal joint including a first universal joint part and a second universal joint part;
- an additional joint including a first additional joint part and a second additional joint part;
- and
- a drive system;
- wherein:
- an end of the first universal joint part of the universal joint is coupled to the base and an end of the second universal joint part of the universal joint is coupled to an end of the base;
- the first additional joint part and the second additional joint part are configured to swivel around axes that are coincident with a center of the universal joint;
- the second additional joint part of the additional joint is operable to be fixedly positioned an angle around an axis of the additional joint that is coincident with the center of the universal joint;
- and
- the drive system is coupled to the second additional joint part of the additional joint and the base, and operable to control motion from the second actuator to the additional joint, enabling at least the platform, the first universal joint part of the universal joint, and the first additional joint part of the additional joint to perform a motion around the additional joint.
Dependencies are inferred from the claim text.