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公开(公告)号：US20230390920A1
公开(公告)日：2023-12-07
申请号：US18330706
申请日：2023-06-07
申请人： APPTRONIK, INC.
CPC分类号： B25J9/1005 , B25J9/06 , B25J9/1065 , B25J9/126 , B25J13/085 , B25J19/0016 , F16H21/44 , B25J15/00
摘要： A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.
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公开(公告)号：US11691269B2
公开(公告)日：2023-07-04
申请号：US17290554
申请日：2019-10-30
申请人： APPTRONIK, INC.
CPC分类号： B25J9/1005 , B25J9/06 , B25J9/1065 , B25J9/126 , B25J13/085 , B25J19/0016 , F16H21/44 , B25J15/00
摘要： A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.
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公开(公告)号：US20230020773A1
公开(公告)日：2023-01-19
申请号：US17732282
申请日：2022-04-28
申请人： Apptronik, Inc.
发明人： Bradley Aaron Resh , Michael Sanford Boudreaux , Daniel Stephen Mitchell , Joshua Alexander James , Steven David Riddle , Orion Hubert Campbell, IV , Jonas Alexan Fox , Nicholas Arden Paine
摘要： A robotic arm system comprising a deployment system or a base, a first joint, and a manipulator coupled to the deployment system or base at the first joint and movable relative to the deployment link or base about the first joint. The manipulator includes a manipulator link, a second joint coupled to the manipulator link distal from the first joint, an elevation linkage coupled to the manipulator link at the second joint, a wrist coupled to the elevation linkage distal from the second joint, and an end effector coupled to the wrist. The end effector can change elevation via the elevation link without changing orientation.
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公开(公告)号：US20210347039A1
公开(公告)日：2021-11-11
申请号：US17290554
申请日：2019-10-30
申请人： APPTRONIK, INC.
摘要： A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.
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