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Robotic device with compact joint design and related systems and methods

  • US 10,376,322 B2
  • Filed: 11/11/2015
  • Issued: 08/13/2019
  • Est. Priority Date: 11/11/2014
  • Status: Active Grant
First Claim
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1. A robotic device comprising:

  • (a) an elongate device body comprising;

    (i) a first lower gear drivetrain comprising;

    (A) a first motor disposed within the elongate device body; and

    (B) a first driveshaft operably coupled to the first motor and fixedly attached to a first lower bevel gear, wherein the first driveshaft is disposed within and independently rotatable in relation to a first upper bevel gear, wherein the first driveshaft is concentric with the first lower bevel gear and the first upper bevel gear; and

    (ii) a first upper gear drivetrain comprising a second motor disposed within the elongate device body, wherein the second motor is operably coupled to the first upper bevel gear;

    (b) a first shoulder joint comprising a first output shaft fixedly attached to a first output bevel gear, wherein the first output bevel gear is mechanically engaged with the first upper and first lower bevel gears; and

    (c) a first arm operably coupled to the first shoulder joint.

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