ELECTRO-MECHANCIAL STRAP STACK IN ROBOTIC ARMS
First Claim
1. A robotic arm comprising:
- a first driver pulley rigidly coupled to a first link of a plurality of links pivotally coupled in series together at a plurality of joints to form a linkage assembly to pitch the robotic arm;
a second driver pulley rigidly coupled to a second link of the plurality of links; and
an electro-mechanical strap stack routed between the first driver pulley and the second driver pulley and over an idler pulley in a third link, the electro-mechanical strap stack to improve electrical conduction in the third link between the first link and the second link.
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Accused Products
Abstract
In one embodiment of the invention, a strap drive-train for use in a robotic arm to enable movement of a linkage assembly of the robotic arm is provided. The linkage assembly includes a plurality of links pivotally coupled in series together at a plurality of joints, respectively, for movement of the robotic arm about a pitch axis. The strap drive-train includes a first driver pulley rigidly coupled to a link of the plurality of links and a second driver pulley rigidly coupled to another link of the plurality of links. The electro-mechanical strap stack includes at least one of a ground strap and an electrical cable strap in a stacked configuration with a drive strap, wherein the electro-mechanical strap stack is connected between the first driver pulley and the second driver pulley through a middle link.
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Citations
59 Claims
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1. A robotic arm comprising:
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a first driver pulley rigidly coupled to a first link of a plurality of links pivotally coupled in series together at a plurality of joints to form a linkage assembly to pitch the robotic arm;
a second driver pulley rigidly coupled to a second link of the plurality of links; and
an electro-mechanical strap stack routed between the first driver pulley and the second driver pulley and over an idler pulley in a third link, the electro-mechanical strap stack to improve electrical conduction in the third link between the first link and the second link. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A robotic arm comprising:
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a linkage assembly including a plurality of links pivotally coupled in series together at a plurality of joints, respectively, to provide an insertion axis for the robotic arm; and
a strap drive-train coupled to the linkage assembly, the strap drive train to enable movement of the linkage assembly about a pitch axis;
wherein the strap drive-train includes an electro-mechanical strap stack having a drive strap coupled between a drive link and an instrument holder link of the plurality of links. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method for a robotic arm, the method comprising:
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pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and
enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link;
wherein the electro-mechanical strap stack includes a drive strap coupled to the linkage, the drive strap to move the linkage assembly. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A strap drive-train for use in a robotic arm to enable movement of a linkage assembly having a plurality of links pivotally coupled in series together at a plurality of joints, respectively, for movement of the robotic arm about a pitch axis, the strap drive-train comprising:
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a first driver pulley rigidly coupled to a first link of the plurality of links;
a second driver pulley rigidly coupled to a second link of the plurality of links; and
an electro-mechanical strap stack routed between the first driver pulley and the second driver pulley through a third link located between the first link and the second link, the electro-mechanical strap stack including a drive strap coupled to the first driver pulley and the second driver pulley, a ground strap having a conductive material, a flexible electrical cable strap having one or more flexible electrical signal lines, and wherein the ground strap and the flexible electrical cable strap being in a stacked and parallel configuration with the drive strap. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52)
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53. An electro-mechanical strap stack routed over an idler pulley in a link of a robotic arm between a first driver pulley and a second driver pulley, the electro-mechanical strap stack comprising:
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a flat metal drive strap coupled to the first driver pulley and the second driver pulley, flat metallic ground strapping stacked on and in parallel to the metal drive strap, the flat metallic ground strapping including a plurality of conductive material layers coupled to the first driver pulley and the second driver pulley, one or more flat flexible signal cables stacked on the flat metallic ground strapping in parallel with the flat metal drive strap, each of the one or more flat flexible signal cables having a plurality of flat flexible electrical signal lines surrounded by an insulating material. - View Dependent Claims (54, 55, 56, 57, 58, 59)
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Specification