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。

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：US09339945B2

公开(公告)日：2016-05-17

申请号：US13623047

申请日：2012-09-19

Applicant: CALIFORNIA INSTITUTE OF TECHNOLOGY

Inventor： Aaron Parness ,  Matthew A. Frost ,  Nitish Thatte ,  Jonathan P. King

IPC: B28D7/00 ,  B25D17/28

CPC classification number: B28D7/00 ,  B25D17/28 ,  B25D2250/221

Abstract: Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system.

Abstract translation: 描述了重力独立夹紧和钻孔的系统和方法。 夹持装置还可以包括用于在微重力环境中或在存在重力的环境中的垂直或倒置表面上钻孔和/或取样的钻孔或取样装置。 机器人系统可以通过适于分配从机器人系统实现的力的踝接口与夹紧和钻孔装置连接。