Robot with a manipulator arm
First Claim
Patent Images
1. A robot, comprising:
- a mobile holonomic platform;
a camera coupled to said mobile holonomic platform;
an arm that has a first linkage and a second linkage that are coupled to said mobile holonomic platform, said arm having a single actuator that moves said second linkage relative to said first linkage in a first degree of freedom in a first mode, and in a second degree of freedom in a second mode; and
,a first grasper coupled to said arm.
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Abstract
A robot that includes an arm coupled to a platform. The arm includes an actuator that moves a second arm linkage relative to a first arm linkage. In a first mode of operation the actuator moves the second linkage in a first degree of freedom. In a second mode of operation the actuator moves the second linkage in a second degree of freedom. The use of a single actuator to provide two degrees of freedom reduces the number parts and associated cost of the arm. The arm further includes a grasper that can grab an object such as a wheelchair. The robot can be used to push the wheelchair. Commands to operate the robot can be generated at a remote input station and transmitted through a broadband network.
168 Citations
14 Claims
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1. A robot, comprising:
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a mobile holonomic platform; a camera coupled to said mobile holonomic platform; an arm that has a first linkage and a second linkage that are coupled to said mobile holonomic platform, said arm having a single actuator that moves said second linkage relative to said first linkage in a first degree of freedom in a first mode, and in a second degree of freedom in a second mode; and
,a first grasper coupled to said arm. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robot system, comprising:
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a broadband network; a remote station coupled to said broadband network, said remote station having a handle that can be manipulated to generate movement signals that are transmitted through said broadband network; a robot that is coupled to said broadband network and receives said movement signals from said handle of said remote station, said robot including; a mobile holonomic platform; a camera coupled to said mobile holonomic platform; an arm coupled to said mobile holonomic platform, said arm includes a first linkage, and a second linkage coupled to said first linkage, said arm further having a single actuator that moves said second linkage relative to said first linkage in a first degree of freedom in a first mode, and in a second degree of freedom in a second mode in response to said movement signals; and
,a first grasper coupled to said arm. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification