Compact robotic wrist
First Claim
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1. An integrated wrist and grasper system for use in a robotic tool, comprising:
- a multiaxial wrist and grasper assembly configured to perform yaw, pitch and grasping motions via actuation of four independent cable ends of a plurality of cables, the assembly comprising;
a first set of pulleys arranged along a first axis of rotation, one of the first set of pulleys coupled to a first jaw and another of the first set of pulleys coupled to a second jaw, the first and second jaws defining the grasper, the first and second jaws configured to move toward or away from each other to perform the grasping motion; and
a second set of pulleys operatively coupled to the first set of pulleys and arranged along a second axis of rotation that is non-parallel to the first axis of rotation,wherein the plurality of cables are wrapped at least partially around the first and second sets of pulleys.
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Abstract
An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist.
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Citations
25 Claims
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1. An integrated wrist and grasper system for use in a robotic tool, comprising:
a multiaxial wrist and grasper assembly configured to perform yaw, pitch and grasping motions via actuation of four independent cable ends of a plurality of cables, the assembly comprising; a first set of pulleys arranged along a first axis of rotation, one of the first set of pulleys coupled to a first jaw and another of the first set of pulleys coupled to a second jaw, the first and second jaws defining the grasper, the first and second jaws configured to move toward or away from each other to perform the grasping motion; and a second set of pulleys operatively coupled to the first set of pulleys and arranged along a second axis of rotation that is non-parallel to the first axis of rotation, wherein the plurality of cables are wrapped at least partially around the first and second sets of pulleys. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An integrated wrist and grasper system for use with a robotic tool, comprising:
a multiaxial wrist and grasper assembly configured to perform yaw, pitch and grasping motions via actuation of four independent cable ends of a plurality of cables, the assembly comprising; a first set of pulleys and a second set of pulleys arranged along a first axis of rotation; a fourth set of pulleys arranged in series with the first set of pulleys and a fifth set of pulleys arranged in series with the second set of pulleys, each of the fourth and fifth set of pulleys configured to rotate about an axis of rotation that is parallel and offset from the first axis; a third set of pulleys intercoupled by a yoke having a pair of attachment portions configured to couple to a pair of jaws to define the grasper, each of the attachment portions being independently movable by one of the third set of pulleys, the third set of pulleys arranged along a third axis of rotation that is angled relative to the first axis of rotation and relative to the axis of each of the fourth and fifth sets of pulleys such that a groove on one of the third set of pulleys aligns with a groove on one of the fourth set of pulleys and a groove on another of the third set of pulleys aligns with a groove on one of the fifth set of pulleys, wherein the cables are wrapped at least partially around the third set of pulleys and the fourth and fifth sets of pulleys so that the cables follow a straight path between said aligned grooves to minimize friction between the cables and pulleys. - View Dependent Claims (9, 10, 11)
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12. A robotic multiaxial tool, comprising:
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a multiaxial wrist and grasper assembly configured to yaw, pitch and grasp via actuation of four cables, the assembly comprising a first set of pulleys arranged along a first axis of rotation, one of the first set of pulleys coupled to a first jaw and another of the first set of pulleys coupled to a second jaw, the first and second jaws defining the grasper, the first and second jaws configured to move toward or away from each other to effect a grasping motion, and a second set of pulleys operatively coupled to the first set of pulleys and arranged along a second axis of rotation that is non-parallel to the first axis of rotation, the four cables wrapped at least partially around the first and second set of pulleys, and a drive mechanism configured to effect movement of the multiaxial wrist and grasper, comprising three electric motors, a third set of pulleys having two pulleys independently rotated by two of the three electric motors, a fourth set of pulleys positioned proximal to the third set of pulleys, the fourth set of pulleys having two pulleys coupled to opposite sides of a rocker member configured to rock in a clockwise or counterclockwise direction to move one of the fourth set of pulleys distally relative to another of the fourth set of pulleys, the rocker member driven by a third of the three electric motors to rock in said clockwise or counterclockwise direction, two of the four cables wrapped at least partially around one of the fourth set of pulleys in the same direction and cable ends of said two cables coupled to opposite sides of one of the third set of pulleys, and another two of the four cables wrapped at least partially around another of the fourth set of pulleys in the same direction and cable ends of said another two cables coupled to opposite sides of another of the third set of pulleys, wherein the drive mechanism is configured to vary tension in each of the four cables to effect the yaw or pitch motion of the wrist and to move the first and second jaws relative to each other to effect a grasping motion. - View Dependent Claims (13, 14, 15, 16, 17, 18)
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19. A robotic multiaxial tool, comprising:
a multiaxial wrist and grasper assembly configured to yaw, pitch and grasp via actuation of four cables, the assembly comprising a first set of pulleys arranged along a first axis of rotation, one of the first set of pulleys operatively coupled to a first jaw and another of the first set of pulleys operatively coupled to a second jaw, the first and second jaws defining the grasper, the first and second jaws configured to move toward or away from each other to effect a grasping motion, and a second set of pulleys operatively coupled to the first set of pulleys and arranged along a second axis of rotation that is non-parallel to the first axis of rotation, the four cables wrapped at least partially around the first and second set of pulleys; and a drive mechanism configured to effect movement of the multiaxial wrist, comprising three electric motors, a third set of pulleys having two pulleys independently rotated by two of the three electric motors, a fourth set of pulleys positioned proximal to the third set of pulleys, and a shuttle mechanism axially interposed between the third set of pulleys and the second set of pulleys, the shuttle mechanism actuatable by a third of the three electric motors to move along a longitudinal axis of the tool; two of the four cables wrapped at least partially around a central pulley and a first shuttle pulley of the shuttle mechanism, wrapped at least partially around one of the fourth set of pulleys in the same direction, and extending to corresponding cable ends coupled to opposite sides of one of the third set of pulleys; and another two of the four cables wrapped at least partially around a second shuttle pulley and the central pulley of the shuttle mechanism, wrapped at least partially around another of the fourth set of pulleys in the same direction, and extending to corresponding cable ends coupled to opposite sides of another of the third set of pulleys, wherein the drive mechanism is configured to vary tension in each of the four cables to effect a yaw or pitch motion of the wrist and to move the first and second jaws relative to each other to effect a grasping motion. - View Dependent Claims (20, 21, 22, 23, 24, 25)
Specification