公开(公告)号：US09981389B2

公开(公告)日：2018-05-29

申请号：US14637278

申请日：2015-03-03

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Matthew A. Frost ,  John M. Leichty ,  Michael J. Hagman ,  James W. Borders ,  Jamie S. Piacentine ,  Charles F. Bergh ,  Allen R. Sirota ,  Kalind C. Carpenter

IPC: B25J9/06 ,  B25J15/08 ,  B62D57/032

CPC classification number: B25J15/08 ,  B25J9/06 ,  B62D57/032 ,  Y10S901/28 ,  Y10S901/31

Abstract: Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

公开(公告)号：US20160008988A1

公开(公告)日：2016-01-14

申请号：US14637278

申请日：2015-03-03

Applicant: California Institute of Technology

Inventor： Brett A. Kennedy ,  Matthew A. Frost ,  John M. Leichty ,  Michael J. Hagman ,  James W. Borders ,  Jamie S. Piacentine ,  Charles F. Bergh ,  Allen R. Sirota ,  Kalind C. Carpenter

IPC: B25J17/00 ,  B25J15/08 ,  B25J18/00

CPC classification number: B25J15/08 ,  B25J9/06 ,  B62D57/032 ,  Y10S901/28 ,  Y10S901/31

Abstract: Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Abstract translation: 可以利用根据本发明的各种实施例的操纵器来实现能够进行灵巧操纵和通用移动性的静态稳定的机器人。 根据本发明的一个实施例的操纵器包括：方位致动器; 三个肘关节各自包括两个致动器，其被偏移以允许每个关节的大于360度的旋转; 连接方位致动器和三个肘关节中的第一个的第一连接结构; 连接第一肘关节和三个肘关节中的第二肘关节的第二连接结构; 将第二肘关节连接到三个肘关节中的三分之一的第三连接结构; 以及连接到三个肘关节中的第三个的末端效应器接口。