ROBOTIC MANIPULATOR

• US 20180304457A1
• Filed: 08/16/2017
• Published: 10/25/2018
• Est. Priority Date: 04/21/2017
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Hutson, Donald Bolden, Naderi, Saura
• Granted Patent: US 10,576,622 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 17/00 Joints
• CPC Class Codes: B25J 17/0258 Two-dimensional joints
• CPC Class Codes: B25J 17/0283 Three-dimensional joints
• CPC Class Codes: B25J 18/005 having a curved shape
• CPC Class Codes: B25J 19/0016 using springs
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B25J 9/102 Gears specially adapted therefor, e.g. reduction gears gearings in general F16H
• CPC Class Codes: B25J 9/126 Rotary actuators

Abstract

Systems, apparatuses, and methods are described herein for a robotic manipulator that includes a base, a first segment, a first joint operatively coupling the base and the first segment, a second segment, and a second joint operatively coupling the first segment and the second segment. The first joint is configured to rotate the first segment about at least two axes of rotation with respect to the base. The second joint is configured to rotate the second segment about at least one axis of rotation with respect to the first segment.

Claims

1. A robotic manipulator, comprising:

a base;

a first segment;

a first joint operatively coupling the base and the first segment, wherein the first joint is configured to rotate the first segment about at least two axes of rotation with respect to the base;

a second segment; and

a second joint operatively coupling the first segment and the second segment, wherein the second joint is configured to rotate the second segment about at least one axis of rotation with respect to the first segment;

wherein at least one of the first segment or the second segment has a curved shape.

2. The robotic manipulator of claim 1, wherein the at least one of the first segment or the second segment is rigid and curved along a length dimension.

3. The robotic manipulator of claim 2, wherein each of the first segment and the second segment is rigid and curved along a length dimension.

4. The robotic manipulator of claim 2, wherein the at least one of the first segment or the second segment comprises a hollow cylindrical structure that has the curved shape.

5. The robotic manipulator of claim 1, wherein the first joint comprises a 3-gear differential to rotate the first segment about the at least two axes of rotation with respect to the base.

6. The robotic manipulator of claim 5, wherein:

the 3-gear differential comprises a first gear, a second gear, and a third gear; and

the first gear and the second gear have a same size.

7. The robotic manipulator of claim 6, wherein:

a tooth-bearing face of the first gear faces a tooth-bearing face of the second gear;

a shaft of the first gear and a shaft of the second gear are coaxial;

the third gear is operatively coupled to the first segment; and

the third gear has teeth meshed with teeth of the first gear and the second gear such that movement of the first gear and the second gear translates to movement of the first segment.

8. The robotic manipulator of claim 6, wherein:

the first gear and the second gear are driven by separate first motors; and

each of the separate first motors is a multi-turn rotational servo configured for continuous rotation.

9. The robotic manipulator of claim 6, wherein:

each of the first gear, the second gear, and the third gear is a bevel gear;

the first gear and the second gear rotating in a same direction with a same angular speed causes the first segment to rotate in the same direction with the same angular speed; and

the first gear and the second gear rotating in at least one of different directions or different angular speeds causes the first segment to rotate about a shaft of the third gear.

10. The robotic manipulator of claim 1, wherein the base further comprises a support element operatively coupled to the first joint is configured to provide a reactionary force opposite to a direction of motion of the first segment.

11. The robotic manipulator of claim 10, wherein the support element comprises a spring-loaded device to provide mechanical force to bias the first segment in one rotational direction about one of the at least two axes of rotation about the first joint.

12. The robotic manipulator of claim 10, wherein:

the support element comprises at least a spring operatively coupled to at least one progressive eccentric lobe fixed to a mount that rotates with the first segment in one of the at least two axes of rotation; and

the spring is configured to compress or extend in response to the motion of the first segment to store mechanical energy corresponding to the reactionary force.

13. The robotic manipulator of claim 1, wherein:

the second joint comprises a second motor configured to rotate the second segment about the at least one axis of rotation with respect to the first segment; and

the second motor is a multi-turn rotational servo.

14. The robotic manipulator of claim 13, wherein:

the second joint comprises a hollow bore through which at least one wire is passed; and

the at least one wire is passed through the first segment.

15. The robotic manipulator of claim 14, wherein the second motor drives a gear that is offset from a center of a cross-section of the first segment, leaving space for at least one of an arm connection structure or an opening to pass wires through the second joint.

16. The robotic manipulator of claim 15, wherein the gear driven by the second motor engages teeth arranged on an internal surface of the second segment to rotate the second segment with respect to the first segment.

17. The robotic manipulator of claim 1, wherein the first joint and the second joint are continuous rotation joints.

18. The robotic manipulator of claim 1, wherein the base is configured to be operatively coupled to an attachment point or an interface.

19. The robotic manipulator of claim 1, wherein:

the first joint is supported by the base;

the first joint comprises a hollow bore through which at least one wire is passed.

20. The robotic manipulator of claim 1, further comprising at least one additional segment linkage assembly, wherein:

each of the at least one additional segment linkage assembly comprises an additional segment linked to another segment of the robotic manipulator through an additional joint; and

the additional joint is configured to rotate the additional segment about at least one axis of rotation with respect to the another segment.

21. The robotic manipulator of claim 1, wherein the additional segment in each of the at least one additional segment linkage assembly has a curved shape.

22. The robotic manipulator of claim 1, further comprising a processing circuit configured to control rotation at the first joint and the second joint.

23. The robotic manipulator of claim 22, wherein the first joint and the second joint are driven by separate motors controlled by the processing circuit.

24. The robotic manipulator of claim 1, wherein:

one of the first segment or the second segment comprises a commutator;

the second joint comprises an offset mounted gear that is mounted at a position offset from a center of a cross-section of one or more of the first segment or the second segment;

the offset mounted gear leaves space for at least one of an arm connection structure or an opening to pass at least one wire through the second joint.

25. The robotic manipulator of claim 24, wherein the space left by the offset mounted gear and the commutator are configured to prevent the at least one wire from entangling or damage as the first segment and the second segment rotate about an axis relative to one another.

26. A method of providing a robotic manipulator, the method comprising:

providing a base;

providing a first segment;

providing a first joint operatively coupling the base and the first segment, wherein the first joint is configured to rotate the first segment about at least two axes of rotation with respect to the base;

providing a second segment; and

providing a second joint operatively coupling the first segment and the second segment, wherein the second joint is configured to rotate the second segment about at least one axis of rotation with respect to the first segment;

wherein at least one of the first segment or the second segment has a curved shape.

27. A robotic manipulator, comprising:

a base means;

a first segment means;

a first joint means operatively coupling the base means and the first segment means, wherein the first joint means is configured to rotate the first segment means about at least two axes of rotation with respect to the base means;

a second segment means; and

a second joint means operatively coupling the first segment means and the second segment means, wherein the second joint means is configured to rotate the second segment means about at least one axis of rotation with respect to the first segment means;

wherein at least one of the first segment means or the second segment means has a curved shape.