公开(公告)号：US07168748B2

公开(公告)日：2007-01-30

申请号：US10672888

申请日：2003-09-26

申请人： William T. Townsend ,  Traveler Hauptman ,  Adam Crowell ,  Brian Zenowich ,  John Lawson ,  Vitaliy Krutik ,  Burt Doo

发明人： William T. Townsend ,  Traveler Hauptman ,  Adam Crowell ,  Brian Zenowich ,  John Lawson ,  Vitaliy Krutik ,  Burt Doo

IPC分类号： B25J13/00 ,  B25J15/10

CPC分类号： B25J15/0009 ,  B25J9/1612 ,  B25J15/10 ,  C25D11/005 ,  C25D11/02 ,  C25D11/04 ,  Y10S294/907 ,  Y10T74/20305 ,  Y10T74/20329

摘要： A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

摘要翻译： 机器人装置具有底座，并且至少一个手指具有至少两个连杆，其至少两个自由度在旋转接头上串联连接。 无刷电动机和相关联的控制器位于每个接头处以产生连杆的旋转运动。 用于电力和通信的电线在分布式控制网络中串行连接控制器。 网络操作控制器协调网络的运行，包括配电。 至少一个，但更典型的两至五条电线通过一个或多个接头互连所有控制器。 电机传感器和外部世界传感器监控机器人手的操作参数。 传感器的电信号输出可以输入到分布式控制网络的任何地方。 机器人手上的V形槽精确定位物体，并协助夹紧。 手被密封，浸没，并通过旋转接头进行电连接，以便在单个扣篮中进行阳极氧化，而不会被遮蔽。 以各种形式，这种智能的，独立的，灵巧的手，或这些手的组合，可以执行各种各样的物体夹持和操纵任务，以及运动和移动和抓握的组合。