Robotics platforms incorporating manipulators having common joint designs

• US 9,981,389 B2
• Filed: 03/03/2015
• Issued: 05/29/2018
• Est. Priority Date: 03/03/2014
• Status: Active Grant

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Kennedy, Brett A., Frost, Matthew A., Leichty, John M., Hagman, Michael J., Borders, James W., Piacentine, Jamie S., Bergh, Charles F., Sirota, Allen R., Carpenter, Kalind C.
• Primary Examiner(s): Momper, Anna M
• Assistant Examiner(s): Jarrett, Ronald P
• Application Number:
  US14/637,278
• Publication Number:
  US 20160008988A1
• Time in Patent Office: 1,183 Days
• CPC Class Codes: B25J 15/08 having finger members B25J15/02, B25J15/04 take precedence
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• 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 901/28 Joint
• CPC Class Codes: Y10S 901/31 Gripping jaw

Abstract

Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Claims

1. A manipulator, comprising:

an azimuth actuator;

a plurality of rigid L shaped elbow joints, each rigid L shaped elbow joint includes a first L shaped elbow joint actuator and a second L shaped elbow joint actuator, where the axis of rotation of the first L shaped elbow joint actuator is perpendicular to the axis of rotation of the second L shaped elbow joint actuator to allow greater than 360 degree rotation;

a first rigid L shaped connecting structure that connects the azimuth actuator and a first rigid L shaped elbow joint in the plurality of rigid L shaped elbow joints;

a second rigid L shaped connecting structure that connects the first rigid L shaped elbow joint and a second rigid L shaped elbow joint in the plurality of rigid L shaped elbow joints;

a third rigid L shaped connecting structure that connects the second rigid L shaped elbow joint to a third rigid L shaped elbow joint in the plurality of rigid L shaped elbow joints; and

an end-effector interface connected to the third rigid L shaped elbow joint.

2. The manipulator of claim 1, wherein the same type of actuator is utilized to implement the actuators in each of the plurality of rigid L shaped elbow joints.

3. The manipulator of claim 2, wherein the actuator comprises a motor including a power-on-to-disengage safety brake.

4. The manipulator of claim 1, wherein each joint comprises at least one position sensor.

5. The manipulator of claim 4, wherein the at least one position sensor comprises an optical incremental encoder on a motor rotor or a capacitive absolute position sensor on an actuator output.

6. The manipulator of claim 1, wherein each joint includes a motherboard including connectors enabling daisy-chaining of power and communication harnessing.

7. The manipulator of claim 1, wherein the plurality of rigid L shaped elbow joints have the same dimensions and construction.

8. The manipulator of claim 1, wherein the end-effector interface includes a six axis force and torque sensor.

9. The manipulator of claim 1, further comprising a hand assembly connected to the end-effector interface.

10. The manipulator of claim 9, wherein the hand assembly comprises a camera.

11. The manipulator of claim 1, further comprising a cam hand assembly connected to the end-effector interface, wherein the cam hand assembly comprises two pairs of opposing curved fingers, the first pair of opposing curved fingers comprising a first curved finger and a second curved finger configured to continuously rotate around a common cam hand axis perpendicular to the first curved finger and the second curved finger, the second pair of opposing curved fingers comprising a third curved finger and a fourth curved finger configured to continuously rotate around the common cam hand axis perpendicular to the third curved finger and the fourth curved finger.

12. The manipulator of claim 11, wherein each curved finger is a unitary piece comprising a convex edge and a concave edge that converge to form a point at a tip of each curved finger.

13. The manipulator of claim 12, wherein:

the first curved finger in the first pair of opposing curved fingers form a slave pair; and

the second curved finger in the first pair of opposing curved fingers is configured to move independently of the first curved finger.

14. The manipulator of claim 12, wherein the cam hand assembly controls poses for the first, second, third, and fourth curved fingers.

15. The manipulator of claim 12, wherein the cam hand assembly in the first pair of opposing curved fingers and the second pair of opposing curved fingers is configured to clasp an object using a standard opposed wrap in a manner that forms a wrist with effective 180 degrees of freedom.

16. The manipulator of claim 12, wherein the first pair of opposing curved fingers and the second pair of opposing curved fingers is configured to interface with an interior surface of a cylindrical object to provide a cam grasp.

17. The manipulator of claim 12, wherein the cam hand assembly wherein each curved finger is configured to move independently.

18. The manipulator of claim 12, wherein the convex edge of each curved finger is configured to grasp an object.

19. The manipulator of claim 12, wherein the concave edge of each curved finger is configured to grasp an object.

20. A manipulator, comprising:

an azimuth actuator;

a plurality of rigid L shaped elbow joints where each rigid L shaped elbow joint includes a first L shaped elbow joint actuator and a second L shaped elbow joint actuator, where the axis of rotation of the first L shaped elbow joint actuator is perpendicular to the axis of rotation of the second L shaped elbow joint actuator to allow greater than 360 degree rotation;

a first rigid L shaped connecting structure that connects the azimuth actuator and a first rigid L shaped elbow joint of the plurality of rigid L shaped elbow joints;

a second rigid L shaped connecting structure that connects the first rigid L shaped elbow joint and a second rigid L shaped elbow joint in the plurality of rigid L shaped elbow joints;

a third rigid L shaped connecting structure that connects the second rigid L shaped elbow joint to a third rigid L shaped elbow joint in the plurality of rigid L shaped elbow joints;

an end-effector interface connected to the third rigid L shaped elbow joint in the plurality of joints; and

a cam hand assembly connected to the end-effector interface, where the cam hand assembly comprises two pairs of opposing curved fingers, the first pair of opposing curved fingers comprising a first curved finger and a second curved finger configured to continuously rotate around a common cam hand axis perpendicular to the first curved finger and the second curved finger, the second pair of opposing curved fingers comprising a third curved finger and a fourth curved finger configured to continuously rotate around the common cam hand axis perpendicular to the third curved finger and the fourth curved finger;

wherein the plurality of rigid L shaped elbow joints have the same dimensions and construction;

wherein the same type of actuator is utilized to implement the first rigid L shaped elbow joint actuator and the second rigid L shaped elbow joint actuator for the first rigid L shaped elbow joint, the second rigid L shaped elbow joint, and the third rigid L shaped elbow joint, and the actuator comprises a motor including a power-on-to-disengage safety brake; and

wherein the cam hand assembly is utilized to control poses for the plurality of fingers.

21. The manipulator of claim 20, wherein the cam hand assembly base comprises a camera.