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US 9,427,876 B2Granted
Inflatable robots, robotic components and assemblies and methods including same
AssigneeiRobot Corporation
InventorsAnnan Michael Mozeika, Mark Robert Claffee, Martin Buehler
Life of this patent
Estimating the term…
Abstract
A robotic joint assembly includes a first structural member, a second structural member, and a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members. The rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member. The first and second flexible hinge members cross one another between the first and second structural members.
Claims18
An inflatable robotic assembly comprising:
- a support member;
- an end effector mounted on an end of the support member, the end effector including first and second inflatable finger members connected to enable the first and second fingers to be moved selectively between an open position and a closed position;
- and
- an actuator configured to move the fingers between the open and closed positions;
- wherein:
- the first finger includes first and second, relatively moveable, inflatable phalanges each having a proximal end;
- the first and second phalanges are arranged serially and are pivotally coupled to one another at their respective proximal ends by a pivot joint;
- the first and second phalanges each include an inner structural membrane and an outer structural membrane surrounding the inner structural membrane;
- each of the inner structural membranes contains a compressed gas;
- each of the outer structural membranes restricts radial expansion of the inner structural membrane to provide a dual-layer tensegrity structure;
- each of the outer structural membranes is formed of a textile;
- and
- the inflatable robotic assembly is configured such that the first and second fingers, including the first and second phalanges of the first finger, are each compliant when inflated and can be deflated into a compacted position for storage and/or transport.
10 more elements
An inflatable robotic assembly comprising:
- a support member;
- an end effector mounted on an end of the support member, the end effector including first and second inflatable finger members connected to enable the first and second fingers to be moved selectively between an open position and a closed position;
- and
- an actuator configured to move the fingers between the open and closed positions;
- wherein:
- the first finger includes first and second, relatively moveable, inflatable phalanges each having a proximal end;
- the first and second phalanges are arranged serially and are pivotally coupled to one another at their respective proximal ends by a pivot joint;
- the first phalange includes a first end surface on its proximal end;
- the second phalange includes a second end surface on its proximal end;
- the first and second end surfaces engage one another the pivot joint is a rolling flexure joint;
- and
- the proximal ends of the first and second phalanges are compliant.
9 more elements
An inflatable robotic assembly comprising:
- a support member;
- an end effector mounted on an end of the support member, the end effector including first and second inflatable finger members connected to enable the first and second fingers to be moved selectively between an open position and a closed position;
- an actuator configured to move the fingers between the open and closed positions;
- and
- an inflation pressure control system;
- wherein:
- the first finger includes first and second, relatively moveable, inflatable phalanges each having a proximal end;
- each of the first and second phalanges includes an inflatable sealed chamber and the chambers are independent of one another such that the first and second phalanges can be inflated to different pressures from one another;
- the first and second phalanges are arranged serially and are pivotally coupled to one another at their respective proximal ends by a pivot joint;
- and
- the inflation pressure control system is operable to selectively control inflation pressure in the first and second phalanges of the first finger and to thereby selectively tune compliance of the first and second phalanges, including inflating the first and second phalanges to different pressures from one another to independently set the rigidities of the first and second phalanges.
8 more elements
Dependencies are inferred from the claim text.