Apparatus, systems, and methods for reconfigurable robotic manipulator and coupling
AssigneeTRACLabs, Inc.
InventorsRobert Raven Burridge, Mars Wei Chu, Bryn Tyler Wolfe
Life of this patent
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Abstract
A robotic manipulator arm is disclosed. The arm includes joints that are attachable and detachable in a tool-free manner via a universal mating adapter. The universal mating adapter includes a built-in electrical interface for an operative electrical connection upon mechanical coupling of the adapter portions. The universal mating adapter includes mechanisms and the ability to store and communicate parameter configurations such that the joints can be rearranged for immediate operation of the arm without further reprogramming, recompiling, or other software intervention.
Claims17
A reconfigurable robotic manipulator arm comprising:
- a first joint including:
- a first end assembly having a mechanical coupling interface and an electrical interface;
- and
- a second end assembly having a mechanical coupling interface and an electrical interface;
- a second joint including:
- a third end assembly having a mechanical coupling interface and an electrical interface;
- and
- a fourth end assembly having a mechanical coupling interface and an electrical interface;
- wherein said first and fourth end assemblies are connectable at said first and fourth mechanical coupling interfaces to form a first adapter between said first and second joints including an operative electrical connection between said first and fourth electrical interfaces;
- wherein said first and second joints are detachable at said first adapter and re-connectable at said second and third mechanical coupling interfaces to form a second adapter between said first and second joints including an operative electrical connection between said second and third electrical interfaces;
- an internally threaded locking ring of said first joint configured to rotatably engage and grasp an externally threaded portion of said second joint to couple said first and second joints;
- and
- at least one motor-driven surface, wherein said motor-driven surface is configured to induce rotational engagement of said first and second joints.
A joint for a robotic manipulator arm, said joint comprising:
- a base section;
- a rotatable section;
- a motor configured to rotate said rotatable section or said base section with respect to said other section;
- a brake;
- a magnetic brake release switch including a ferrous metal member,
- wherein said magnetic brake release switch is configured to be activated by a removable external magnet to release said brake and allow relative movement between said rotatable section and said base section;
- a first optical encoder position sensor configured to detect an absolute position of said rotatable section with respect to said base section via a position indicator mounted on one of said rotatable or base section, wherein said position indicator includes a region of graduated varying optical contrast and
- a second optical encoder position sensor configured to detect an angular position of said rotatable section with respect to said base section via discrete varying optical contrast.
An adapter for connecting different portions of a robotic system comprising:
- a first assembly including a mechanical coupling interface and an electrical interface;
- a second assembly including a mechanical coupling interface and an electrical interface;
- wherein said first assembly is connectable to a first portion of said robotic system;
- wherein said second assembly is connectable to a second portion of said robotic system;
- wherein said mechanical coupling interfaces are connectable whereby said electrical interfaces are brought into contact to form an operative electrical connection in said adapter;
- an internally threaded locking ring of said first assembly rotatably engages and grasps an externally threaded member of said second assembly to couple said first and second assemblies;
- and
- at least one motor-driven surface, wherein said motor-driven surface is configured to induce rotational engagement of said first and second assemblies.
Dependencies are inferred from the claim text.