Four degree of freedom (4-DOF) single modular robot unit or joint
First Claim
1. A four degree-of-freedom (4-DOF) single robot unit module, comprising:
- (a) a center link having first and second ends;
(b) a first outer link pivotably connected to the first end of the center link about a first pivot axis;
(c) a second outer link pivotably connected to the second end of the center link about a second pivot axis;
(d) a first planar faceplate rotationally connected to the first outer link;
(e) a second planar faceplate rotationally connected to the second outer link;
(f) wherein each said faceplate is rotatable about a faceplate rotation axis that is substantially orthogonal to the pivot axis of the outer link to which the faceplate is connected;
(g) wherein each said faceplate is detachably connectable to a like faceplate in another module by a faceplate-to-faceplate connection; and
(h) wherein each said outer link comprises a first section and a second section with an interior space therebetween, and wherein each end of the center link is positioned in the interior space between the sections of one of said outer links;
(i) wherein each said outer link includes a faceplate motor and drive gear assembly that rotates the faceplate connected to said outer link relative to each said outer link;
(j) whereby pivot motion of the outer links about their respective pivot axis and rotational motion of the faceplates about their respective rotation axis establishes four degree-of-freedom (4-DOF) motion in a single robot unit module.
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Accused Products
Abstract
A module of a center link pivotably connected to two outer links has continuously rotatable faceplates rotatably disposed on the two outer links, thereby creating four degrees of freedom (4-DOF). Modules may be connected via faceplates to produce a “snake” assembly. A single module may move forward in a straight line through simultaneous rotation of the two faceplates. By reversing the rotation of the faceplates, the module may turn in its own length. By sequentially pivoting the outer links relative to the center link, an “inch worm” movement may be used to move the module. Interconnections of two or more modules increase the number of available degrees of freedom, and increase the flexibility of the resultant assembly. Apertures in the faceplates and the outer links allow for interconnection of modules and allow for electrical power and signal connections. A battery housed in the center link provides power for each module.
27 Citations
10 Claims
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1. A four degree-of-freedom (4-DOF) single robot unit module, comprising:
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(a) a center link having first and second ends; (b) a first outer link pivotably connected to the first end of the center link about a first pivot axis; (c) a second outer link pivotably connected to the second end of the center link about a second pivot axis; (d) a first planar faceplate rotationally connected to the first outer link; (e) a second planar faceplate rotationally connected to the second outer link; (f) wherein each said faceplate is rotatable about a faceplate rotation axis that is substantially orthogonal to the pivot axis of the outer link to which the faceplate is connected; (g) wherein each said faceplate is detachably connectable to a like faceplate in another module by a faceplate-to-faceplate connection; and (h) wherein each said outer link comprises a first section and a second section with an interior space therebetween, and wherein each end of the center link is positioned in the interior space between the sections of one of said outer links; (i) wherein each said outer link includes a faceplate motor and drive gear assembly that rotates the faceplate connected to said outer link relative to each said outer link; (j) whereby pivot motion of the outer links about their respective pivot axis and rotational motion of the faceplates about their respective rotation axis establishes four degree-of-freedom (4-DOF) motion in a single robot unit module. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A four degree-of-freedom (4-DOF) single robot unit module, comprising:
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(a) a center link having first and second ends; (b) a first outer link pivotably connected to the first end of the center link about a first pivot axis; (c) a second outer link pivotably connected to the second end of the center link about a second pivot axis; (d) a first planar faceplate rotationally connected to the first outer link; (e) a second planar faceplate rotationally connected to the second outer link; (f) wherein each said faceplate is rotatable about a faceplate rotation axis that is substantially orthogonal to the pivot axis of the outer link to which the faceplate is connected; (g) wherein each said faceplate is detachably connectable to a like faceplate in another module by a faceplate-to-faceplate connection; (h) wherein each said outer link comprises a first section and a second section with an interior space therebetween, and wherein each end of the center link is positioned in the interior space between the sections of one of said outer links; (i) wherein each said outer link includes a faceplate motor and drive gear assembly that rotates the faceplate connected to said outer link relative to each said outer link; and (j) wherein each said outer link includes a faceplate encoder assembly that detects rotation of the faceplate connected to said outer link; (k) whereby pivot motion of the outer links about their respective pivot axis and rotational motion of the faceplates about their respective rotation axis establishes four degree-of-freedom (4-DOF) motion in a single robot unit module.
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10. A modular assembly, comprising:
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(a) a first module; and (b) a second module; (c) wherein each said module comprises; (i) a center link having first and second ends; (ii) a first outer link pivotably connected to the first end of the center link about a first pivot axis; (iii) a second outer link pivotably connected to the second end of the center link about a second pivot axis; (iv) a first planar faceplate rotationally connected to the first outer link; (v) a second planar faceplate rotationally connected to the second outer link; (vi) wherein each said faceplate is rotatable about a faceplate rotation axis that is substantially orthogonal to the pivot axis of the outer link to which the faceplate is connected; (vii) wherein each said faceplate is detachably connectable to a like faceplate in another module by a faceplate-to-faceplate connection; and (viii) wherein each said outer link includes a faceplate motor and drive gear assembly that rotates the faceplate connected to said outer link relative to each said outer link; (ix) whereby pivot motion of the outer links about their respective pivot axis and rotational motion of the faceplates about their respective rotation axis establishes four degree-of-freedom (4-DOF) motion in a single robot unit module; (d) wherein a faceplate on said first module is connected to a faceplate on said second module at a faceplate-to-faceplate interface; and (e) wherein said first module is rotatable relative to said second module.
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Specification