Systems and methods for actuation of a robotic manipulator

Patent metadata

Field	Value
Publication number	US-12533795-B2
Application number	US-202418750091-A
Country	US
Kind code	B2
Filing date	Jun 21, 2024
Priority date	Dec 10, 2021
Publication date	Jan 27, 2026
Grant date	Jan 27, 2026

Abstract

Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

First claim

What is claimed is:

1 . A joint for a robotic arm, the joint comprising:
an actuator configured to rotate an output of the actuator about a first axis; a first gear fixedly coupled to the output of the actuator and configured to rotate about the first axis; a second gear operatively coupled to the first gear, wherein rotation of the first gear about the first axis rotates the second gear about a second axis offset from the first axis to drive the output of the actuator, wherein:
the second gear comprises a through-bore passing from a first side of the second gear to a second side of the second gear opposite the first side, the through-bore configured to enable passage of one or more connections from the first side to the second side of the second gear;
an encoder coupled to an internal surface of the second gear and configured to sense an angular position of the second gear; and an output bearing coupled to the second gear, the output bearing comprising a cross roller bearing or an axial contact bearing.

2 . The joint of claim 1 , wherein the actuator comprises one or more of a brushless motor, a strain wave gearbox or a cycloidal gearbox.

3 . The joint of claim 1 , wherein the first gear comprises a first helical gear, and wherein the second gear comprises a second helical gear.

4 . The joint of claim 1 , further comprising a tolerance ring disposed between the output of the actuator and the first gear, the tolerance ring configured to slip relative to the first gear when a torque of the first gear exceeds a threshold torque.

5 . The joint of claim 1 , wherein the one or more connections comprises one or more of a power cable, a vacuum cable, and a signal cable.

6 . The joint of claim 5 , wherein the one or more connections comprises the power cable, the vacuum cable, and the signal cable.

7 . The joint of claim 1 , further comprising:
a first link of the robotic arm fixedly coupled to the actuator; and a second link of the robotic arm fixedly coupled to the second gear.

8 . The joint of claim 1 , wherein the actuator comprises an integrated torque sensor.

9 . The joint of claim 1 , wherein the encoder comprises an absolute encoder.

Assignees

• Boston Dynamics Inc

Inventors

• Geating Joshua Timothy
• Peyton Geoffrey
• Thorne Christopher Everett
• Webb Jacob

Classifications

• B25J17/02

  Wrist joints · CPC title

• B25J9/106 Primary

  with articulated links · CPC title

• B25J19/065

  Mechanical fuse · CPC title

• B25J5/00

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• B25J17/0283

  Three-dimensional joints · CPC title