Compact Robotic Joint
First Claim
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1. A compact robotic joint having two rotational degrees of freedom, comprising:
- a first link;
a second link, wherein the first link is rotatably mounted to the second link and movable relative to the second link about a first axis; and
a third link rotatably mounted to the second link and movable relative to the second link about a second axis;
wherein the first link and the third link each comprises a rotary actuator.
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Abstract
In one aspect, a supported walking system is disclosed, comprising a robotic walking figure and a wheeled support that at least partially supports the robotic walking figure. The supported walking system may be driven and controlled by a human operator. Computer algorithms automatically control the robot'"'"'s walking functions so that it may step forwards, backwards, and sideways in synchronicity with the movements of the cart while driving and turning at varying speeds.
26 Citations
23 Claims
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1. A compact robotic joint having two rotational degrees of freedom, comprising:
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a first link;
a second link, wherein the first link is rotatably mounted to the second link and movable relative to the second link about a first axis; and
a third link rotatably mounted to the second link and movable relative to the second link about a second axis;
wherein the first link and the third link each comprises a rotary actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A robotic joint, comprising:
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a first link comprising an electric motor providing an output;
a second link, wherein the first link is mounted to the second link to allow rotation of the first link about a first axis based on the output of the first link electric motor; and
a third link comprising an electric motor providing an output, wherein the third link is mounted to the second link to allow rotation of the third link about a second axis based on the output of the third link electric motor and further wherein the first axis is transverse to the second axis. - View Dependent Claims (14, 15, 16, 17)
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18. A robotic joint having two rotational degrees of freedom, comprising:
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a first joint assembly comprising a drive mechanism for rotating a shaft;
a second joint assembly; and
a third joint assembly comprising a drive mechanism for rotating a shaft, wherein the first joint assembly and the third joint assembly are mounted to the second joint assembly to rotate about first and second rotation axes, respectively, when the shafts are rotated by the drive mechanisms and wherein planes containing the first and second rotation axes are substantially perpendicular. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification