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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：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：US20110071678A1
公开(公告)日：2011-03-24
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：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：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：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：US08291788B2
公开(公告)日：2012-10-23
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：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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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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