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公开(公告)号：US08443694B2
公开(公告)日：2013-05-21
申请号：US13552965
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
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公开(公告)号：US08067909B2
公开(公告)日：2011-11-29
申请号：US12474430
申请日：2009-05-29
申请人： Donald R. Davis , Nicolaus A Radford , Frank Noble Permenter , Adam H Parsons , Joshua S Mehling
发明人： Donald R. Davis , Nicolaus A Radford , Frank Noble Permenter , Adam H Parsons , Joshua S Mehling
IPC分类号： H02P7/00
CPC分类号： B60T13/04 , B60T13/741 , B60T13/743 , B60T13/748 , F16D2121/22 , F16D2129/065
摘要： An electromagnetic braking system and method is provided for selectively braking a motor using an electromagnetic brake having an electromagnet, a permanent magnet, a rotor assembly, and a brake pad. The brake assembly applies when the electromagnet is de-energized and releases when the electromagnet is energized. When applied the permanent magnet moves the brake pad into frictional engagement with a housing, and when released the electromagnet cancels the flux of the permanent magnet to allow a leaf spring to move the brake pad away from the housing. A controller has a DC/DC converter for converting a main bus voltage to a lower braking voltage based on certain parameters. The converter utilizes pulse-width modulation (PWM) to regulate the braking voltage. A calibrated gap is defined between the brake pad and permanent magnet when the brake assembly is released, and may be dynamically modified via the controller.
摘要翻译： 提供一种电磁制动系统和方法，用于使用具有电磁体，永磁体，转子组件和制动衬块的电磁制动器选择性地制动电动机。 当电磁铁断电时，制动组件适用，当电磁铁通电时，制动器组件释放。 当施加永久磁铁时，制动片与壳体摩擦接合，当释放时，电磁铁抵消永久磁铁的磁通，使得片簧将制动片从壳体上移开。 控制器具有用于基于某些参数将主母线电压转换为较低制动电压的DC / DC转换器。 该转换器利用脉宽调制（PWM）来调节制动电压。 当制动组件被释放时，在制动衬块和永磁体之间限定校准的间隙，并且可以通过控制器动态地修改。
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公开(公告)号：US20110067517A1
公开(公告)日：2011-03-24
申请号：US12564090
申请日：2009-09-22
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
摘要翻译： 提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。 用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。 多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。 每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。 扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。
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公开(公告)号：US08443693B2
公开(公告)日：2013-05-21
申请号：US13552957
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
摘要翻译： 提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。 用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。 多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。 每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。 扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。
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公开(公告)号：US20120279343A1
公开(公告)日：2012-11-08
申请号：US13552965
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
摘要翻译： 提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。 用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。 多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。 每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。 扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。
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公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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公开(公告)号：USD628609S1
公开(公告)日：2010-12-07
申请号：US29359105
申请日：2010-04-06
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公开(公告)号：US08511964B2
公开(公告)日：2013-08-20
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J11/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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公开(公告)号：US08467903B2
公开(公告)日：2013-06-18
申请号：US12564086
申请日：2009-09-22
申请人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
发明人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20305
摘要： A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
摘要翻译： 人形机器人包括具有至少一根手指的机器手。 用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。 腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。 致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。
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公开(公告)号：US20120279338A1
公开(公告)日：2012-11-08
申请号：US13552957
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
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