Inflatable Robots, Robotic Components and Assemblies and Methods Including Same

• US 20130152724A1
• Filed: 12/13/2012
• Published: 06/20/2013
• Est. Priority Date: 12/19/2011
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Mozeika, Annan Michael, Claffee, Mark Robert, Buehler, Martin
• Granted Patent: US 9,427,876 B2
• Time in Patent Office: Days
• US Class Current: 74/490.05
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: B25J 17/00 Joints
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/0015 Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
• CPC Class Codes: B25J 9/142 comprising inflatable bodies
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10T 74/20329 Joint between elements

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.

Claims

1. A robotic joint assembly comprising:

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, wherein;

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; and

the first and second flexible hinge members cross one another between the first and second structural members.

2. The robotic joint assembly of claim 1 wherein the first and second flexible hinge members are first and second ribbons.

3. The robotic joint assembly of claim 1 including a third flexible hinge member having one end secured to the first structural member and an opposing end secured to the second structural member, wherein the third flexible hinge member crosses the second flexible hinge member between the first and second structural members and the second flexible hinge member is interposed between the first and third flexible hinge members.

4. The robotic joint assembly of claim 1 wherein;

the first structural member has a first end surface and first and second side surfaces on opposed sides of the first end surface;

the second structural member has a second end surface and third and fourth side surfaces on opposed sides of the second end surface, the third side surface being substantially aligned with the first side surface, and the second side surface being substantially aligned with the fourth side surface;

the first flexible hinge member is secured to the first side surface, extends across the first and second end surfaces, and is secured the fourth side surface; and

the second flexible hinge member is secured to the second side surface, extends across the first and second end surfaces, and is secured the third side surface.

5. The robotic joint assembly of claim 1 wherein at least the first structural member is compliant.

6. The robotic joint assembly of claim 5 wherein the first structural member is a compliant inflatable structure.

7. The robotic joint assembly of claim 6 wherein the second structural member is a compliant inflatable structure.

8. The robotic joint assembly of claim 6 wherein:

the first and second structural members each include an inner structural membrane and an outer structural membrane surrounding the inner structural membrane;

the inner structural membrane contains a compressed gas; and

the second structural membrane restricts radial expansion of the inner structural membrane to provide a dual-layer tensegrity structure.

9. The robotic joint assembly of claim 1 wherein the rolling flexure joint includes at least one flexible collateral ligament secured to each of the first and second structural members to provide torsional and lateral stability to the rolling flexure joint.

10. 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.

11. The inflatable robotic assembly of claim 10 wherein the first finger has first and second, relatively moveable, inflatable phalanges.

12. The inflatable robotic assembly of claim 11 including a rolling flexure joint joining the first and second phalanges to provide at least one degree of freedom between the first and second phalanges.

13. The inflatable robotic assembly of claim 12 including a second rolling flexure joint joining the first finger and the support member to provide at least one degree of freedom between the first finger and the support member.

14. The inflatable robotic assembly of claim 10 including a rolling flexure joint joining the first finger and the support member to provide at least one degree of freedom between the first finger and the support member.

15. The inflatable robotic assembly of claim 10 wherein the end effector is under-actuated.

16. The inflatable robotic assembly of claim 10 wherein:

the first and second inflatable fingers each include an inner structural membrane and an outer structural membrane surrounding the inner structural membrane;

the inner structural membrane contains a compressed gas; and

the second structural membrane restricts radial expansion of the inner structural membrane to provide a dual-layer tensegrity structure.

17. An inflatable robotic assembly comprising:

an inflatable structural member; and

an inflation pressure control system operable to selectively control inflation pressure in the inflatable structural member and to thereby selectively tune compliance of the inflatable structural member.

18. The inflatable robotic assembly of claim 17 wherein the inflation pressure control system includes a compressor or a supply of compressed inflation gas, and a controller.

19. The inflatable robotic assembly of claim 17 wherein the inflatable structural member is a beam.

20. The inflatable robotic assembly of claim 17 wherein the inflatable structural member is a load bearing arm or limb of a robot.

21. The inflatable robotic assembly of claim 17 wherein:

the inflatable structural member forms a part of a joint structure; and

the inflation pressure control system is operable to selectively tune a stiffness and/or a freedom of movement of a joint between two joined structural members.

22. The inflatable robotic assembly of claim 17 wherein:

the inflatable structural member includes an inner structural membrane and an outer structural membrane surrounding the inner structural membrane;

the inner structural membrane contains a compressed gas; and

the second structural membrane restricts radial expansion of the inner structural membrane to provide a dual-layer tensegrity structure.

23. The inflatable robotic assembly of claim 17 including a body and wherein the inflatable structural member is an inflatable limb member connected to the body to transit the body

24-26. -26. (canceled)

27. A robot comprising:

a mobile base; and

a robotic arm assembly mounted on the base, the robotic arm assembly including an inflatable structural member that can be stowed in or on the mobile base in a deflated condition and can be inflated to deploy the robotic arm assembly.

28-32. -32. (canceled)