Robotic forearm assembly

Abstract

A robotic forearm assembly includes: a housing defining a central axis extending along a first housing portion and a second housing portion; a rotary actuator disposed within the first housing portion; a plurality of hand linear actuators; and a wrist linear actuator at least partially housed within and extending outwardly from the second housing portion. Each of the plurality of hand linear actuators is at least partially housed within and extends outwardly from the second housing portion. The rotary actuator is coupled to the first housing portion and configured to rotate the first and second housing portions about the central axis. The plurality of hand and wrist linear actuators extend in longitudinal directions generally parallel to the central axis.

Description

[0001] Cross-references to related applications This application claims the benefit and priority of U.S. Provisional Application No. 63 / 706,004, filed October 10, 2024, the entire disclosure of which is incorporated herein by reference. Technical Field

[0002] This disclosure generally relates to robotics. More specifically, this disclosure relates to a robotic forearm assembly for controlling a robotic hand. Background Technology

[0003] Robots use robotic appendages to interact with objects in their surrounding environment. As an example, appendages can be used to push or grasp objects or propel the robot. To achieve this, some appendages utilize joints that allow relative movement between different parts. For such appendages, it may be desirable to provide multiple independently controllable hinge points to facilitate the performance of complex tasks requiring the grasping of objects of different shapes and / or orientations. Summary of the Invention

[0004] In at least one embodiment, this disclosure relates to a robotic forearm assembly comprising: a housing defining a central axis extending along a first housing portion and a second housing portion; a rotary actuator disposed within the first housing portion, wherein the rotary actuator is coupled to the first housing portion and configured to rotate the first housing portion and the second housing portion about the central axis; a plurality of hand linear actuators, each of the plurality of hand linear actuators being at least partially housed within and extending outwardly from the second housing portion; and a wrist linear actuator, the wrist linear actuator being at least partially housed within and extending outwardly from the second housing portion, wherein the plurality of hand linear actuators and the wrist linear actuator extend in a longitudinal direction generally parallel to the central axis.

[0005] In some embodiments, a first housing portion extends axially from a first end to a second end, and a second housing portion extends axially from the first end to the second end, wherein the second end of the first housing portion abuts against the first end of the second housing portion.

[0006] In some embodiments, the plurality of hand linear actuators include a first subset of hand actuators and a second subset of hand actuators, wherein the first subset of hand actuators is arranged radially outward relative to the second subset of hand actuators.

[0007] In some embodiments, the first hand actuator subset is arranged in a circumferential pattern, wherein each actuator in the first hand actuator subset is spaced apart from each other in the circumferential direction.

[0008] In some embodiments, the wrist linear actuator is arranged radially inward relative to the first hand actuator subset.

[0009] In some embodiments, the second housing portion includes an outer portion and an inner portion, the inner portion being arranged radially inward relative to the outer portion.

[0010] In some embodiments, a first subset of hand actuators is at least partially housed within an outer portion, a second subset of hand actuators is at least partially housed within an inner portion, and a wrist linear actuator is at least partially housed within an inner portion.

[0011] In some embodiments, the inner portion extends axially a greater distance from the first end of the second housing portion than the outer portion.

[0012] In some embodiments, the wrist linear actuator is a first wrist linear actuator, and the robot forearm assembly also includes a second wrist linear actuator.

[0013] In some embodiments, the number of linear actuators, including a plurality of hand linear actuators and wrist linear actuators, housed at least partially within the second housing portion is greater than or equal to 17.

[0014] In some embodiments, the number of linear actuators, including a plurality of hand linear actuators and wrist linear actuators, at least partially housed within the second housing portion is greater than or equal to 23.

[0015] In some embodiments, each of the plurality of hand linear actuators and wrist linear actuators defines a diameter between approximately 10 mm and approximately 30 mm.

[0016] In some embodiments, each of the plurality of hand linear actuators and wrist linear actuators extends longitudinally from a first actuator end to a second actuator end, wherein the first actuator ends are coplanar.

[0017] In some embodiments, the robot forearm assembly further includes a rotary printed circuit board assembly electrically coupled to a rotary actuator; and a linear printed circuit board assembly electrically coupled to a plurality of hand linear actuators or wrist linear actuators.

[0018] In some embodiments, both the rotary printed circuit board assembly and the linear printed circuit board assembly are arranged inside the housing.

[0019] In at least one embodiment, this disclosure relates to a robot forearm assembly comprising: a housing defining a central axis extending along a first housing portion and a second housing portion, wherein the first housing portion extends axially from a first end toward an interface between the first housing portion and the second housing portion, and the second housing portion extends axially from the interface toward a second end; a rotary actuator disposed within the first housing portion, wherein the rotary actuator is coupled to the first housing portion and configured to rotate the first housing portion and the second housing portion about the central axis; and a plurality of linear actuators, each of the plurality of linear actuators being at least partially housed within the second housing portion and extending outwardly from the second housing portion, and the plurality of linear actuators comprising 17 or more linear actuators.

[0020] In some embodiments, the plurality of linear actuators includes a plurality of hand linear actuators and a pair of wrist linear actuators, wherein each of the plurality of hand linear actuators and the pair of wrist linear actuators extends in a longitudinal direction generally parallel to the central axis.

[0021] In some embodiments, the plurality of hand linear actuators include a first subset of hand actuators and a second subset of hand actuators, wherein the first subset of hand actuators is arranged radially outward relative to the second subset of hand actuators, wherein the first subset of hand actuators is arranged in a circumferential pattern, and wherein each actuator in the first subset of hand actuators is spaced apart from each other in the circumferential direction.

[0022] In some embodiments, the robot forearm assembly further includes a rotary printed circuit board assembly electrically coupled to a rotary actuator; and a linear printed circuit board assembly electrically coupled to a plurality of linear actuators, wherein both the rotary printed circuit board assembly and the linear printed circuit board assembly are disposed within a housing.

[0023] In some aspects, this disclosure relates to a robot forearm assembly comprising: a housing defining a central axis extending along a first housing portion and a second housing portion; a rotary actuator disposed within the first housing portion, wherein the rotary actuator is coupled to the first housing portion and configured to rotate the first housing portion and the second housing portion about the central axis; a plurality of linear actuators, each of the plurality of linear actuators being at least partially housed within and extending outwardly from the second housing portion; a rotary printed circuit board assembly electrically coupled to the rotary actuator; and a linear printed circuit board assembly electrically coupled to the plurality of linear actuators, wherein both the rotary printed circuit board assembly and the linear printed circuit board assembly are disposed within the housing.

[0024] The present invention is merely illustrative and is not intended to be limiting in any way. Other aspects, inventive features, and advantages of the apparatus or process described herein will become apparent from the detailed description set forth herein, taken in conjunction with the accompanying drawings, in which similar reference numerals refer to similar elements. Attached Figure Description

[0025] Figure 1 It is a bottom view of a robot appendage according to at least one embodiment.

[0026] Figure 2 According to at least one embodiment Figure 1 Top-down, front-facing, right-angled isometric view of the robot's forearm assembly.

[0027] Figure 3 yes Figure 2 Right side view of the robot's forearm assembly.

[0028] Figure 4 yes Figure 2 Front view of the robot's forearm assembly.

[0029] Figure 5 yes Figure 4 A cross-sectional view of the robot forearm assembly along line 5-5.

[0030] Figure 6 yes Figure 4 The cross-sectional view of the robot forearm assembly along line 6-6.

[0031] Figure 7 yes Figure 2 A schematic diagram of the control system for the robot's forearm assembly.

[0032] Figure 8 According to at least one embodiment Figure 1 Top-down, front-facing, right-angled isometric view of the robot's forearm assembly.

[0033] Figure 9 yes Figure 8 Right side view of the robot's forearm assembly.

[0034] Figure 10 yes Figure 8 Front view of the robot's forearm assembly.

[0035] Figure 11 yes Figure 10 A cross-sectional view of the robot forearm assembly along line 11-11.

[0036] Figure 12 yes Figure 10 A cross-sectional view of the robot forearm assembly along line 12-12. Detailed Implementation

[0037] Before turning to the accompanying drawings, which illustrate certain exemplary embodiments in detail, it should be understood that this disclosure is not limited to the details or methods set forth in the specification or shown in the drawings. It should also be understood that the terminology used herein is for illustrative purposes only and should not be considered limiting.

[0038] As used herein, the term "axial" and its variations refer to a direction that extends generally along the axis of symmetry, central axis, or elongation of a particular component or system. For example, an axially extending feature of a component may be a feature that extends generally along a direction parallel to the component's axis of symmetry or elongation. Similarly, the term "radial" and its variations refer to a direction that is generally perpendicular to the corresponding axial direction. For example, a radially extending structure of a component may extend at least partially generally along a direction perpendicular to the component's longitudinal axis or central axis. The term "circumferential" and its variations refer to a direction that extends generally around the circumference or periphery of an object, around the axis of symmetry, central axis, or elongation of a particular component or system.

[0039] Referring generally to the accompanying drawings, the robotic arm assembly (e.g., the lower arm assembly) includes a robotic forearm assembly, a wrist assembly, and a robotic hand. The robotic hand includes a humanoid anatomical structure with five fingers (e.g., a thumb, three index fingers, and a little finger), and the robotic hand is coupled to the forearm assembly via the wrist assembly. Movement of each finger in the wrist assembly and the robotic hand is controlled by multiple actuators arranged within the robotic forearm assembly. Specifically, the robotic forearm assembly includes linear actuators and rotary actuators; the linear actuators control the movement of the fingers of the hand and the movement of the wrist assembly, while the rotary actuators control the rotation of the forearm assembly (as well as the wrist assembly and the fingers).

[0040] In some embodiments, the robot forearm assembly includes a housing axially divided into a first housing portion and a second housing portion. A rotary actuator is disposed within the first housing portion, and a plurality of linear actuators are at least partially disposed within the second housing portion. In other words, the rotary actuator and the plurality of linear actuators are mounted in series, thereby simplifying the assembly and manufacture of the robot forearm assembly. The plurality of linear actuators are each at least partially received and extend in a longitudinal direction parallel to the central axis defined along the first and second housing portions. At least a portion or subset of the plurality of linear actuators is arranged in a circumferential pattern, wherein the first subset of linear actuators is arranged radially outward relative to the second subset of linear actuators. The orientation, longitudinal extension, and pattern arrangement of the plurality of linear actuators provide a compact package, reducing the envelope defined by the robot forearm assembly (e.g., adapting to a representative human form), maximizing heat transfer (e.g., cooling), and minimizing electromagnetic interference between electromagnetic components within the robot forearm assembly.

[0041] In some embodiments, the robot forearm assembly operates as a stand-alone unit without any components located outside the housing or separate from the housing (except for the power supply). For example, in addition to rotary actuators and multiple linear actuators, the robot forearm assembly also includes a printed circuit board assembly, an inverter, and sensors disposed within the housing.

[0042] See Figure 1 A humanoid appendage, robotic appendage, limb, joining assembly, poseable assembly, or finger is shown as a robotic arm assembly 10. The robotic arm assembly 10 includes a robotic forearm assembly 12 (e.g., a first member, forearm member, upper member, etc.), a wrist assembly 14 (e.g., a coupling device, joint assembly, etc.), and a hand assembly 16 (e.g., a third member, hand member, lower member, articulated member, etc.). The hand assembly 16 is coupled to the robotic forearm assembly 12 via the wrist assembly 14. The robotic forearm assembly 12 is also coupled to an arm base 18 at the end of the robotic forearm assembly 12 opposite to the wrist assembly 14.

[0043] The movement of the wrist assembly 14 and hand assembly 16 is controlled by the robotic forearm assembly 12. The robotic forearm assembly 12 includes multiple actuators or motors capable of independent movement or rotation to control the movement of multiple fingers 20 (e.g., thumb, three index fingers, and little finger) of the wrist assembly 14 and hand assembly 16. See also Figures 1 to 4 The robot forearm assembly 12 includes a housing 22 that defines a central axis 24 extending along a first housing portion 26 and a second housing portion 28. In some embodiments, the first housing portion 26 is rigidly or fixedly coupled to the second housing portion 28 by welding, adhesive, one or more fastening elements (e.g., screws, bolts, rivets), etc. The first housing portion 26 and the second housing portion 28 extend axially along the central axis 24 and abut against each other. Specifically, the first housing portion 26 extends axially from a first end 30 to a second end 32, and the second housing portion 28 extends axially from a first end 34 to a second end 36. The second end 32 of the first housing portion 26 abuts against the first end 34 of the second housing portion 28. In other words, an interface is formed between the first end 30 of the first housing portion 26 and the second end 36 of the second housing portion 28.

[0044] The first housing portion 26 defines a generally cylindrical shape, and the second housing portion 28 defines a generally cylindrical shape having an outer portion 38 and an inner portion 40, the inner portion 40 being arranged radially inward relative to the outer portion 38. The inner portion 40 extends axially away from the distal end of the outer portion 38 such that the inner portion 40 projects axially outward from the distal end of the outer portion 38 (see, for example, [reference needed]). Figure 2 and Figure 3In other words, the inner portion 40 extends axially a greater distance from the first end 34 of the second housing portion 28 than the outer portion 38.

[0045] The first housing portion 26 and the second housing portion 28 house or support different components of the robot forearm assembly 12. In some embodiments, the first housing portion 26 houses or supports a rotary moving component, and the second housing portion 28 houses or supports a linear moving component. See also Figures 1 to 6 A rotary actuator 42 (e.g., a rotary motor, stepper motor, servo motor, etc.) is arranged or housed within a first housing portion 26, and a plurality of linear actuators 44 are at least partially housed within a second housing portion 28 and extend outwardly from the second housing portion 28. The rotary actuator 42 and the plurality of linear actuators 44 are respectively mounted within the first housing portion 26 and the second housing portion 28, such that the rotary actuators 42 and 44 are arranged in series. In other words, the rotary actuator 42 and the plurality of linear actuators 44 are arranged axially back-to-back with no axial overlap between the components (see, for example, [reference needed]). Figure 5 This simplifies the assembly and manufacturing of the robot forearm assembly 12.

[0046] See Figure 5 A rotary actuator 42 is disposed within an interior cavity 46 (e.g., an inner bore, internal cutout, internal groove, etc.) of the first housing portion 26 and coupled to the first housing portion 26 (e.g., coupled to an inner surface of the first housing portion 26). The rotary actuator 42 is also coupled to a gear train 48 comprising one or more gears. The gear train 48 is configured to change the output speed and / or torque provided by the rotary output of the rotary actuator 42 (e.g., coupled to a shaft of a rotor). The rotary actuator 42 is coupled to an arm base 18 via the gear train 48, and the arm base 18 is rotatably fixed (i.e., does not rotate). Due to the coupling of the rotary actuator 42 to the first housing portion 26 and the rotatably fixed arm base 18, the rotary output on the first housing portion 26 provided by the rotary actuator 42 causes the first housing portion 26 and a second housing portion 28 rigidly coupled to the first housing portion 26 to rotate relative to the arm base 18 about a central axis 24. Therefore, the selective rotation provided by the rotary actuator 42 is configured to rotate the housing 22 of the robot forearm assembly 12 and provide wrist rolling to the wrist assembly 14 and hand assembly 16.

[0047] See Figures 1 to 6A plurality of linear actuators 44 are configured to provide linear outputs (e.g., push, pull, or retraction) to the wrist assembly 14 or the hand assembly 16 to control movement of the wrist assembly 14 and the hand assembly 16. In some embodiments, each of the plurality of linear actuators 44 is coupled via a cable or coupling device to a corresponding joint formed in the wrist assembly 14 or the hand assembly 16 to control movement of the joint about a specific degree of freedom. The plurality of linear actuators 44 includes a plurality of hand linear actuators 50 and wrist linear actuators 52. In the illustrated embodiment, the wrist linear actuators 52 include a pair of wrist linear actuators 52 (e.g., a first wrist linear actuator and a second wrist linear actuator). Each of the plurality of hand linear actuators 50 is configured to control movement of a joint in the hand assembly 16, and the wrist linear actuators 52 control movement of one or more joints in the wrist assembly 14. In some embodiments, each of the plurality of linear actuators 44 defines a generally cylindrical shape having an outer diameter (see, for example, ...). Figure 3 , Figure 5 and Figure 6 In some embodiments, each of the plurality of linear actuators 44, including a plurality of hand linear actuators 50 and a wrist linear actuator 52, defines a diameter between approximately 10 mm and approximately 30 mm. In the illustrated embodiment, the plurality of hand linear actuators 50 each define a diameter of approximately 12 mm, and the wrist linear actuator 52 defines a diameter of approximately 20 mm. The diameters defined by the plurality of linear actuators 44 are smaller than those conventionally used in robotic appendages, thereby allowing the robotic forearm assembly 12 to include a greater number of linear actuators.

[0048] Multiple hand linear actuators 50 are at least partially housed within and extend outward from the second housing portion 28. Wrist linear actuators 52 are also at least partially housed within and extend outward from the second housing portion 28. In some embodiments, the number of multiple linear actuators 44, including multiple hand linear actuators 50 and wrist linear actuators 52, at least partially housed within the second housing portion is greater than or equal to 17, 18, 19, 20, 21, 22, 23, 24, or 25. Overall, by including greater than or equal to 17 linear actuators in the robot forearm assembly 12, the robot forearm assembly 12 is able to control the movement of the wrist assembly 14 and hand assembly 16 about at least 24 degrees of freedom (25 degrees of freedom including wrist rolling provided by the rotary actuator 42), and is able to achieve flexible operation of the hand assembly 16. In the illustrated embodiment, the robot forearm assembly 12 includes 25 linear actuators (23 of the multiple hand linear actuators 50 and 2 wrist linear actuators 52) and provides flexible operation of the wrist assembly 14 and the hand assembly 16.

[0049] See Figures 2 to 4 Multiple linear actuators 44 are patterned within the second housing portion 28 to provide a compact package and reduce the overall envelope defined by the robot forearm assembly 12 (e.g., to fit within a representative human form). In the illustrated embodiment, multiple hand linear actuators 50 include a first hand actuator subset 50a and a second hand actuator subset 50b, both of which are arranged within the second housing portion 28. The first hand actuator subset 50a is arranged radially outward relative to the second hand actuator subset 50b, and the wrist linear actuator 52 is arranged radially inward relative to the first hand actuator subset 50a. The first hand actuator subset 50a is at least partially housed within the outer portion 38 of the second housing portion 28, and the second hand actuator subset 50b is at least partially housed within the inner portion 40 of the second housing portion 28.

[0050] The first hand actuator subset 50a is arranged in a circumferential pattern around the central axis 24, wherein each actuator in the first hand actuator subset 50a is arranged at a specific radial distance from the central axis 24 and is spaced apart from each other in the circumferential direction (see example). Figure 3In the illustrated embodiment, the circumferential pattern defined by the first hand actuator subset 50a is an elliptical pattern, wherein each actuator in the first hand actuator subset 50a is offset or spaced apart from circumferentially adjacent actuators in the circumferential direction, and the radial distance of each actuator in the first hand actuator subset 50a from the central axis 24 varies according to the geometry of the ellipse. In some embodiments, each actuator in the first hand actuator subset 50a is arranged within the outer portion 38 at the same radial distance from the central axis 24 (e.g., a circular pattern), and each actuator in the first hand actuator subset 50a is offset or spaced apart from circumferentially adjacent actuators in the circumferential direction. In the illustrated embodiment, the first hand actuator subset 50a includes 16 actuators that are circumferentially spaced around the outer portion 38 with a predetermined circumferential offset.

[0051] A portion of the second hand actuator subset 50b is arranged in a circumferential pattern around the central axis 24, wherein each actuator in this portion of the second hand actuator subset 50b is arranged at the same radial distance from the central axis 24 and spaced apart from each other in the circumferential direction (see example). Figure 3 Unlike the first hand actuator subset 50a, this portion of the second hand actuator subset 50b is not continuously spaced around the inner portion 40 because the wrist linear actuators 52 are arranged circumferentially between the two sets of second hand actuator subsets 50b. The wrist linear actuators 52 are arranged on opposite radial sides of the central axis 24 (or opposite sides of the vertical midplane V intersecting the central axis 24) and aligned along the horizontal midplane H intersecting the central axis 24. In the illustrated embodiment, this portion of the second hand actuator subset 50b, arranged in a circumferential pattern, includes six actuators, of which three actuators are arranged in a first circumferential gap formed between the wrist linear actuators 52 (e.g., from...). Figure 3 From an angular perspective, the upper gap is formed above the horizontal midplane H, and the three actuators are arranged in the second circumferential gap formed between the wrist linear actuators 52 (e.g., from the upper gap above the horizontal midplane H). Figure 3 Viewed from an angle, it is formed within the lower gap below the horizontal midplane H. In some embodiments, the second hand actuator subset 50b and the wrist linear actuator 52 can be arranged in different patterns. For example, the wrist linear actuator 52 can be arranged below the horizontal midplane H (e.g., from the lower gap below the horizontal midplane H). Figure 3 (viewed from an angle), and each actuator in the second hand actuator subset 50b can be arranged above the wrist linear actuator 52 (e.g., from the angle of view), Figure 3 (Observation from the angle).

[0052] In the illustrated embodiment, the second hand actuator subset 50b includes seven actuators, wherein six actuators are arranged in a circumferential pattern around the outer periphery of the inner portion 40, and one actuator is arranged radially inward relative to the actuators in the circumferential pattern. Individual actuators in the second hand actuator subset 50b are arranged below the horizontal mid-plane H and are positioned between the wrist linear actuators 52 in the lateral direction (e.g., in a direction parallel to the horizontal mid-plane). Overall, the arrangement and mounting pattern defined by the first hand actuator subset 50a in the outer portion 38 and the second hand actuator subset 50b and wrist linear actuators 52 in the inner portion 40 maximizes the number of linear actuators mounted within the available space defined by the second housing portion 28. In addition, the arrangement and mounting pattern defined by the first hand actuator subset 50a in the outer portion 38 and the second hand actuator subset 50b and wrist linear actuator 52 in the inner portion 40 helps to promote efficient heat transfer to the environment, reduce the heat generation of the multiple linear actuators 44, and reduce the electromagnetic interference within the robot forearm assembly 12.

[0053] See still Figures 2 to 4 When each of the multiple linear actuators 44 is in the fully retracted position (e.g. Figure 2 and Figure 3 As shown, when each of the multiple linear actuators 44 terminates at a different axial position, the distal end of each actuator terminates at a different axial position. Specifically, when each of the first hand actuator subset 50a, the second hand actuator subset 50b, and the wrist linear actuator 52 is in the fully retracted position, the distal end of the second hand actuator subset 50b is axially positioned between the distal ends of the first hand actuator subset 50a and the distal ends of the wrist linear actuators 52, wherein the distal end of the wrist linear actuators 52 is axially positioned further away from the first end 34 of the second housing portion 28 than the distal end of the first hand actuator subset 50a. This axially staggered arrangement of the multiple linear actuators 44 also facilitates the encapsulation of more linear actuators within the robot forearm assembly 12 and provides access to the positions of the multiple linear actuators 44 with the corresponding joints of the wrist assembly 14 and the hand assembly 16.

[0054] See Figure 5 and Figure 6Each of the plurality of linear actuators 44 is arranged within the second housing portion 28. The plurality of linear actuators 44, including a plurality of hand linear actuators 50 and a wrist linear actuator 52, extend along a longitudinal direction 54 parallel to the central axis 24. In some embodiments, the longitudinal direction 54 is arranged substantially parallel to the central axis 24 (e.g., about ±5 degrees, about ±10 degrees, about ±15 degrees, about ±20 degrees, about ±25 degrees, or about ±30 degrees). In other words, the longitudinal direction 54 defined by one or more of the plurality of linear actuators 44 can be tilted or rotated relative to the central axis 24 (e.g., from...). Figure 5 and Figure 6 Viewed from an angle (tilted or rotated clockwise or counterclockwise in a direction of rotation coplanar with the central axis 24), approximately ±5 degrees, approximately ±10 degrees, approximately ±15 degrees, approximately ±20 degrees, approximately ±25 degrees, or approximately ±30 degrees. In some embodiments, one group of the plurality of linear actuators 44 may tilt or rotate relative to the central axis 24, while the remaining group of the plurality of linear actuators 44 may be parallel to the central axis 24. For example, the wrist linear actuator 52 may tilt or rotate relative to the central axis 24, while the plurality of hand linear actuators 50 may be parallel to the central axis 24, or a portion of the wrist linear actuator 52 and the plurality of hand linear actuators 50 may tilt or rotate relative to the central axis 24, while the remaining portions of the plurality of hand linear actuators 50 may be parallel to the central axis 24. In some embodiments, one or more of the plurality of linear actuators 44 may be tilted about two axes relative to the central axis 24 (e.g., rotated or tilted about a direction coplanar with the central axis 24 and an axis perpendicular to the central axis 24) to define a generally conical or conical shape. For example, a wrist linear actuator 52 may be tilted or rotated about two directions, one coplanar with the central axis 24 and the other perpendicular to the central axis 24. Alternatively or additionally, one or more of the plurality of hand linear actuators 50 may be tilted or rotated about two directions, one coplanar with the central axis 24 and the other perpendicular to the central axis 24. In the illustrated embodiment, each of the plurality of linear actuators 44 extends along a longitudinal direction 54 from a first actuator end 56 to a second actuator end 58. The first actuator end 56 is coplanar about a plane intersecting a surface at a first end 34 of the second housing portion 28, which helps facilitate a tandem arrangement between the rotary actuator 42 and the plurality of linear actuators 44.

[0055] Each of the multiple hand linear actuators 50 includes a hand motor 60, an inner rod 62 (e.g., ball screw, lead screw, roller screw, etc.), a hand gear train 64, and an output rod 66 (e.g., push tube, plunger, shaft, piston rod, etc.). Figure 5As shown. The hand motor 60, inner rod 62, hand gear train 64, and output rod 66 extend coaxially along the longitudinal direction 54. The longitudinal extension and parallel orientation of the plurality of hand linear actuators 50 relative to the central axis 24 differ from conventional actuators used in robot appendages that define a 90-degree relationship (right angle) between the input mechanism (e.g., a motor) and the output (e.g., an output rod). In addition to the circumferential mounting pattern and axial offset of the plurality of hand linear actuators 50, the longitudinal orientation of the plurality of hand linear actuators 50 also reduces the overall envelope defined by the robot forearm assembly 12 and facilitates the inclusion of more linear actuators within the robot forearm assembly 12 to control movement with respect to additional degrees of freedom without increasing the overall envelope or package size of the robot forearm assembly 12.

[0056] During operation, each of the plurality of hand linear actuators 50 is capable of moving independently to control the movement of one of the joints in the hand assembly 16. In some embodiments, the hand motor 60 selectively rotates in a particular direction, causing an inner rod 62 coupled to the hand motor 60 (e.g., a rotor coupled to the hand motor 60). The inner rod 62 is coupled to a hand gear train 64, and the hand gear train 64 is coupled to an output rod 66. The hand gear train 64 is configured to convert the rotational motion of the inner rod 62 into linear motion of the output rod 66, the rotational direction of the hand motor 60 controlling whether the output rod 66 extends outward from the second housing portion 28 or retracts inward toward the second housing portion 28. In some embodiments, each of the plurality of hand linear actuators 50 may be in the form of a ball screw actuator, a lead screw actuator, or a roller screw actuator. In some embodiments, each of the plurality of hand linear actuators 50 may be in the form of a direct-drive linear motor, wherein the inner rod 62 and the output rod 66 are linearly driven by the hand motor 60, and the hand gear train 64 is omitted.

[0057] Each wrist linear actuator 52 includes a wrist motor 70, an inner rod 72 (e.g., a ball screw, lead screw, guide screw, roller screw, etc.), a wrist gear train 74, and an output rod 76 (e.g., a push tube, plunger, shaft, piston rod, etc.). Figure 6As shown. A wrist motor 70, an inner rod 72, a wrist gear train 74, and an output rod 76 extend coaxially along a longitudinal direction 54. During operation, each 52 can move independently to control the movement of one of the joints in the wrist assembly 14. In some embodiments, the wrist motor 70 selectively rotates in a specific direction, causing the inner rod 72, coupled to the wrist motor 70 (e.g., a rotor coupled to the wrist motor 70), to rotate. The inner rod 72 is coupled to the wrist gear train 74, and the wrist gear train 74 is coupled to the output rod 76. The wrist gear train 74 is configured to convert the rotational motion of the inner rod 72 into linear motion of the output rod 76, the rotational direction of the wrist motor 70 controlling the extension and retraction of the output rod 76. In some embodiments, each wrist linear actuator 52 may be in the form of a ball screw actuator, a lead screw actuator, or a roller screw actuator. In some embodiments, each wrist linear actuator 52 may be in the form of a direct-drive linear motor, wherein the inner rod 72 and the output rod 76 are linearly driven by the wrist motor 70, and the wrist gear train 74 is omitted.

[0058] See Figures 5 to 7 The robot forearm assembly 12 includes a control system 80 that controls the operation of rotary actuators 42 and a plurality of linear actuators 44. Specifically, the control system 80 includes a linear control group 82, which includes one or more linear printed circuit board assemblies 84. Each linear printed circuit board assembly 84 includes one or more controllers 86, each controller 86 having a processor 88 and a memory 90; and one or more inverters 92. Instructions may be stored on the memory 90, which, when executed by the processor 88, cause the controller(s) 86 to perform various processes described herein. For example, the one or more linear printed circuit board assemblies 84 and the controller(s) 86 are electrically coupled to and communicate with the plurality of linear actuators 44, and the controller(s) 86 receive instructions to cause one or more hand motors 60 to rotate a predetermined amount in a specific direction to extend / retract one or more of the linear actuators 44. The inverters 92 are electrically connected to the plurality of linear actuators 44 and are configured to provide power to the plurality of linear actuators 44.

[0059] In some embodiments, the linear control group 82 includes one of the linear printed circuit board assemblies 84, which includes control components (e.g., one or more controllers 86, inverters 92, etc.) for operating all of the plurality of linear actuators 44. In some embodiments, the linear control group 82 includes two or more of the one or more linear printed circuit board assemblies 84 (e.g., one for a plurality of hand linear actuators 50, and one for a wrist linear actuator 52). In some embodiments, the linear control group 82 includes three or more of the one or more linear printed circuit board assemblies 84 (e.g., one for a first subset of hand actuators 50a, one for a second subset of hand actuators 50b, and one for a wrist linear actuator 52).

[0060] The control system 80 includes a rotation control assembly 94, which includes a rotation printed circuit board assembly 96. The rotation printed circuit board assembly 96 includes a controller 98 having a processor 100 and a memory 102, and one or more inverters 104. Instructions may be stored on the memory 102, which, when executed by the processor 100, cause the controller 98 to perform various processes described herein. For example, the rotation printed circuit board assembly 96 and the controller 98 are electrically coupled to and communicate with the rotation actuator 42, and the controller 98 receives instructions to cause the rotation actuator 42 to rotate by a predetermined amount in a specific direction to rotate the housing 22 of the robot forearm assembly 12. The inverter 104 is electrically connected to the rotation actuator 42 and is configured to provide power to the rotation actuator 42.

[0061] The control system 80 includes one or more sensors 106 for measuring one or more operating parameters of the robot forearm assembly 12. In some embodiments, the sensors 106 include a plurality of position sensors, each configured to measure the position of a plurality of linear actuators 44 (e.g., the linear position of the output rods 66 of a plurality of hand linear actuators 50 and the output rods 76 of a wrist linear actuator 52). In some embodiments, the sensors 106 include rotational position sensors (e.g., encoders) configured to measure the rotational position of the rotary actuators 42 and / or the housing 22. In some embodiments, the sensors 106 include one or more temperature sensors configured to measure various operating temperatures within the robot forearm assembly 12. Regardless of the specific configuration of the sensors 106, each component of the control system 80 is arranged within the housing 22, such as... Figures 5 to 7As shown. All components of the control system 80 are arranged inside the housing 22, which facilitates the operation of the robot forearm assembly 12 as a standalone unit without any components located outside or separated from the housing 22 (except for the power supply). In other words, the robot forearm assembly 12 can be efficiently mounted in the robot arm assembly 10 with minimal mechanical / electrical connections.

[0062] The robot forearm assembly 12 described herein can be designed to include an alternative number of linear actuators, and can include an alternative arrangement of linear / rotary actuators within the housing 22. See also Figures 8 to 12 The robot forearm assembly 12 is shown as an alternative arrangement including a housing, a rotary actuator 42, and a plurality of linear actuators 44. It should be understood that... Figures 8 to 12 The robot forearm assembly 12 shown includes, with Figures 1 to 7 The robot forearm assembly 12 shown is similar to other components, except as otherwise described herein or which are clearly visible from the accompanying drawings. Figures 8 to 12 The robot forearm assembly 12 includes a housing 150 defining a central axis 152 extending along a first housing portion 154, a second housing portion 156, and a third housing portion 158. The first housing portion 154 is rigidly or fixedly coupled to the second housing portion 156 and the third housing portion 158 by welding, adhesive, one or more fastening elements (e.g., screws, bolts, rivets), etc. The first housing portion 154, the second housing portion 156, and the third housing portion 158 extend axially along the central axis 152 and abut against each other. In the illustrated embodiment, a portion of the first housing portion 154 is nested within the first housing portion 154. The first housing portion 154 includes a flange 160 and a central hub 162 extending axially away from the flange 160. The central hub 162 is received in and extends through an inner bore formed through the second housing portion 156. The second housing portion 156 is arranged radially outward relative to the central hub 162 and extends circumferentially around the central hub 162. The third housing portion 158 abuts against the axial end of the central hub 162 (e.g., the end opposite the flange 160) and is spaced apart from the second housing portion 156 in the axial direction.

[0063] In some embodiments, a first housing portion 154 accommodates or supports a rotary moving component, and a second housing portion 156 and a third housing portion 158 accommodate or support a linear moving component. A rotary actuator 42 is arranged or accommodated within the first housing portion 154, a portion of a plurality of linear actuators 44 is at least partially accommodated within and extends outward from the second housing portion 156, and another portion of the plurality of linear actuators 44 is at least partially accommodated within and extends outward from the third housing portion 158. In the illustrated embodiment, the rotary actuator 42 is mounted in a cavity 164 extending through the first housing portion 154, and the rotary actuator 42 is arranged in a nested configuration with the plurality of linear actuators 44 mounted within the second housing portion 156. In other words, the rotary actuator 42 and the plurality of linear actuators 44 mounted within the second housing portion 156 at least partially overlap in the axial direction, and the rotary actuator 42 is arranged radially inward relative to the plurality of linear actuators 44 mounted within the second housing portion 156 (see, for example, [link to relevant documentation]). Figure 11 ).

[0064] See Figure 11 A rotary actuator 42 is coupled to a first housing portion 154 (e.g., to the inner surface of the first housing portion 154). The rotary actuator 42 is also coupled to a gear train 48, and via the gear train 48, to the arm base 18. Because the rotary actuator 42 is coupled to the first housing portion 154 and the rotationally fixed arm base 18, the rotational output on the first housing portion 154 provided by the rotary actuator 42 causes the first housing portion 154, the second housing portion 156, and the third housing portion 158 to rotate relative to the arm base 18 about a central axis 152. Therefore, the selective rotation provided by the rotary actuator 42 is configured to rotate the housing 150 of the robot forearm assembly 12 and provide wrist rolling to the wrist assembly 14 and the hand assembly 16.

[0065] See Figures 8 to 12 A portion of a plurality of hand linear actuators 50 is at least partially housed within and extends outward from a second housing portion 156, and another portion of the plurality of hand linear actuators 50 is at least partially housed within and extends outward from a third housing portion 158. A wrist linear actuator 52 is at least partially housed within and extends outward from the third housing portion 158. In the illustrated embodiment, the plurality of hand linear actuators 50 each define a diameter of approximately 15 mm, and the wrist linear actuator 52 defines a diameter of approximately 30 mm. The diameters defined by the plurality of linear actuators 44 are smaller than those conventionally used in robotic appendages, thereby allowing the robotic forearm assembly 12 to include a greater number of linear actuators.

[0066] In the illustrated embodiment, the number of actuators in the plurality of linear actuators 44, including multiple hand linear actuators 50 and wrist linear actuators 52, is greater than or equal to 17, thereby enabling the robot forearm assembly 12 to control the movement of the wrist assembly 14 and the hand assembly 16 about at least 24 degrees of freedom (25 degrees of freedom including wrist rolling provided by the rotary actuator 42), and enabling flexible operation of the hand assembly 16. In the illustrated embodiment, the robot forearm assembly 12 includes 19 linear actuators (19 multiple hand linear actuators 50 and 2 wrist linear actuators 52).

[0067] In the illustrated embodiment, the plurality of hand linear actuators 50 include a first subset 50c of hand actuators mounted within a second housing portion 156 and a second subset 50d of hand actuators mounted within a third housing portion 158. The first subset 50c of hand actuators is arranged radially outward relative to the second subset 50d (see, for example, [link to previous embodiment]). Figure 10 The wrist linear actuator 52 is arranged radially inward relative to the first hand actuator subset 50c. The first hand actuator subset 50c is arranged in a circumferential pattern around a central axis 152, wherein each actuator in the first hand actuator subset 50c is arranged at the same radial distance from the central axis 152 and is spaced apart from each other in the circumferential direction (see example). Figure 10 In other words, each actuator in the first hand actuator subset 50c is arranged within the second housing portion 156 at the same radial distance from the central axis 152, and each actuator in the first hand actuator subset 50c is offset or spaced apart from circumferentially adjacent actuators in the circumferential direction. In the illustrated embodiment, the first hand actuator subset 50c includes 12 actuators that are circumferentially spaced around the second housing portion 156 with a predetermined circumferential offset.

[0068] The second hand actuator subset 50d is arranged below the horizontal mid-plane H intersecting the central axis 152, wherein a total of five actuators are arranged in the second hand actuator subset 50d. The wrist linear actuator 52 is arranged on the radially opposite side of the central axis 24 (or on the opposite side of the vertical mid-plane V intersecting the central axis 152), and is located above the second hand actuator subset 50d relative to the horizontal mid-plane H. Overall, the arrangement and mounting pattern defined by the first hand actuator subset 50c in the second housing portion 156 and the second hand actuator subset 50d and wrist linear actuator 52 in the third housing portion 158 maximizes the number of linear actuators installed within the available space defined by the housing 150. In addition, the arrangement and mounting pattern defined by the first hand actuator subset 50c in the second housing portion 156 and the second hand actuator subset 50d and wrist linear actuator 52 in the third housing portion 158 helps to promote efficient heat transfer to the environment, reduce the heat generation of the multiple linear actuators 44, and reduce the electromagnetic interference effects within the robot forearm assembly 12.

[0069] See still Figures 8 to 12 When each of the multiple hand linear actuators 50 is in the fully retracted position (e.g. Figure 8 and Figure 9 As shown, when each actuator in the plurality of hand linear actuators 50 terminates at a different axial position. Specifically, when each actuator in the first hand actuator subset 50c and the second hand actuator subset 50d is in the fully retracted position, the distal end of the second hand actuator subset 50d is arranged axially further away from the flange 160 on the first housing portion 154 than the distal end of the first hand actuator subset 50c. This axially staggered arrangement of the plurality of hand linear actuators 50 also facilitates the encapsulation of more linear actuators within the robot forearm assembly 12 and facilitates access to the positions of the plurality of hand linear actuators 50 between the corresponding joints of the wrist assembly 14 and the hand assembly 16.

[0070] Figures 8 to 12 The operating and control components of the robot forearm assembly 12 are similar to those described herein. Figures 1 to 7 The operation and control components of the robot's forearm assembly 12 are similar. For example, Figures 8 to 12 The illustrated robotic forearm assembly 12 includes one or more linear printed circuit board assemblies 84 and rotary printed circuit board assemblies 96, all arranged within the housing 150. Rotary actuators 42, multiple hand linear actuators 50, and wrist linear actuators 52 are independently controlled by their respective linear printed circuit board assemblies 84 or rotary printed circuit board assemblies 96 to selectively move one or more joints in the wrist assembly 14 or hand assembly 16.

[0071] As used herein, with respect to numerical ranges, the terms “about,” “approximately,” “substantially,” etc., generally refer to + / - 10% of the disclosed value. When the terms “about,” “approximately,” “substantially,” etc., are applied to structural features (e.g., to describe their shape, size, orientation, direction, etc.), these terms are intended to cover minor variations in the structure that may result from, for example, manufacturing or assembly processes, and are intended to have a broad meaning consistent with common and accepted usage by one of ordinary skill in the art to which this disclosure pertains. Therefore, these terms should be interpreted as indicating that non-substantial or insignificant modifications or alterations to the described and claimed subject matter are considered to be within the scope of this disclosure as set forth in the appended claims.

[0072] It should be noted that the term "exemplary" and its variations, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and these terms are not intended to imply that such embodiments are necessarily extraordinary or the best examples).

[0073] As used herein, the term “coupled” and its variations mean that two components are joined to each other, directly or indirectly. This joining can be fixed (e.g., permanent or fixed) or movable (e.g., removable or releasable). This joining can be achieved by directly coupling two components to each other, by coupling two components to each other using a separate intervening component or any additional intermediate component, or by coupling two components to each other using an intervening component integrally formed with one of the two components as a single unit. If “coupled” or its variations are modified by an additional term (e.g., direct coupling), the general definition of “coupled” provided above is modified by the literal meaning of the additional term (e.g., “direct coupling” means that two components are joined without any separate intervening component), resulting in a narrower definition than the general definition of “coupled” provided above. Such coupling can be mechanical, electrical, or fluid coupling.

[0074] References to the positions of elements herein (e.g., “top,” “bottom,” “upper,” “lower”) are used only to describe the orientation of the various elements in the accompanying drawings. It should be noted that the orientation of the various elements may vary depending on other exemplary embodiments, and these variations are intended to be covered by this disclosure.

[0075] Hardware and data processing components for implementing the various processes, operations, illustrative logic, logic blocks, modules, and circuits described in conjunction with embodiments disclosed herein may be implemented or executed using a general-purpose single-chip or multi-chip processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, or any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. In some embodiments, specific processes and methods may be executed by circuitry specific to a given function. Memory (e.g., memory, storage cell, storage device) may include one or more devices (e.g., RAM, ROM, flash memory, hard disk storage) for storing data and / or computer code to perform or facilitate the various processes, layers, and modules described in this disclosure. The memory may be or include volatile or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described herein. According to one exemplary embodiment, the memory is communicatively connected to a processor via processing circuitry and includes computer code for performing one or more processes described herein, for example, via processing circuitry or the processor.

[0076] This disclosure contemplates methods, systems, and program products on any machine-readable medium for implementing various operations. Embodiments of this disclosure can be implemented using existing computer processors, or by a dedicated computer processor for a suitable system combined for one or more purposes, or by a hardwired system. Embodiments within the scope of this disclosure include program products comprising machine-readable media for carrying or storing machine-executable instructions or data structures. Such machine-readable media can be any available medium accessible by a general-purpose or special-purpose computer or other machine having a processor. As an example, such machine-readable media may include RAM, ROM, EPROM, EEPROM, or other optical disk storage devices, magnetic disk storage devices, or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of machine-executable instructions or data structures and accessible by a general-purpose or special-purpose computer or other machine having a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data that cause a general-purpose computer, special-purpose computer, or special-purpose processor to perform a particular function or group of functions.

[0077] Although the accompanying drawings and description may show a specific order of method steps, the order of these steps may differ from the order depicted and described unless otherwise specified above. Furthermore, unless otherwise specified above, two or more steps may be performed simultaneously or partially simultaneously. These variations may depend on, for example, the chosen software and hardware system and the designer's choices. All such variations fall within the scope of this disclosure. Similarly, the software implementation of the method can be accomplished using standard programming techniques with rule-based logic and other logic for performing various connection steps, processing steps, comparison steps, and decision steps.

[0078] It is important to note that the construction and arrangement of the robotic forearm assembly 12, as illustrated in the various exemplary embodiments, are merely illustrative. Furthermore, any element disclosed in one embodiment may be incorporated into or used in any other embodiment disclosed herein.

Claims

1. A robot forearm assembly, comprising: A housing that defines a central axis extending along a first housing portion and a second housing portion; A rotary actuator is disposed within the first housing portion, wherein the rotary actuator is coupled to the first housing portion and configured to cause the first housing portion and the second housing portion to rotate about the central axis; A plurality of hand linear actuators, each of the plurality of hand linear actuators being at least partially housed within and extending outwardly from the second housing portion; and A wrist linear actuator, which is at least partially housed within and extends outward from the second housing portion, wherein the plurality of hand linear actuators and the wrist linear actuator extend in a longitudinal direction generally parallel to the central axis.

2. The robot forearm assembly according to claim 1, wherein, The first housing portion extends axially from a first end to a second end, and the second housing portion extends axially from the first end to the second end, wherein the second end of the first housing portion abuts against the first end of the second housing portion.

3. The robot forearm assembly according to claim 1, wherein, The plurality of hand linear actuators include a first subset of hand actuators and a second subset of hand actuators, wherein the first subset of hand actuators is arranged radially outward relative to the second subset of hand actuators.

4. The robot forearm assembly according to claim 3, wherein, The first subset of hand actuators is arranged in a circumferential pattern, wherein each actuator in the first subset of hand actuators is spaced apart from each other in the circumferential direction.

5. The robot forearm assembly according to claim 3, wherein, The wrist linear actuator is arranged radially inward relative to the first hand actuator subset.

6. The robot forearm assembly according to claim 3, wherein, The second housing portion includes an outer portion and an inner portion, the inner portion being arranged radially inward relative to the outer portion.

7. The robot forearm assembly according to claim 6, wherein, The first subset of hand actuators is at least partially housed within the outer portion, the second subset of hand actuators is at least partially housed within the inner portion, and the wrist linear actuator is at least partially housed within the inner portion.

8. The robot forearm assembly according to claim 7, wherein, The inner portion extends axially a greater distance from the first end of the second housing portion than the outer portion.

9. The robot forearm assembly according to claim 1, wherein, The wrist linear actuator is a first wrist linear actuator, and the robot forearm assembly also includes a second wrist linear actuator.

10. The robot forearm assembly according to claim 1, wherein, The number of linear actuators, including the plurality of hand linear actuators and the wrist linear actuators, which are at least partially housed within the second housing portion, is greater than or equal to 17.

11. The robot forearm assembly according to claim 1, wherein, The number of linear actuators, including the plurality of hand linear actuators and the wrist linear actuators, which are at least partially housed within the second housing portion, is greater than or equal to 23.

12. The robot forearm assembly according to claim 1, wherein, Each of the plurality of hand linear actuators and the wrist linear actuators defines a diameter between approximately 10 mm and approximately 30 mm.

13. The robot forearm assembly according to claim 1, wherein, Each of the plurality of hand linear actuators and the wrist linear actuator extends along the longitudinal direction from a first actuator end to a second actuator end, wherein the first actuator ends are coplanar.

14. The robot forearm assembly of claim 1, further comprising a rotary printed circuit board assembly electrically coupled to the rotary actuator; and a linear printed circuit board assembly electrically coupled to the plurality of hand linear actuators or the wrist linear actuator.

15. The robot forearm assembly according to claim 14, wherein, Both the rotary printed circuit board assembly and the linear printed circuit board assembly are arranged inside the housing.

16. A robotic forearm assembly, comprising: A housing that defines a central axis extending along a first housing portion and a second housing portion, wherein the first housing portion extends axially from a first end toward an interface between the first housing portion and the second housing portion, and the second housing portion extends axially from the interface toward a second end; A rotary actuator, disposed within the first housing portion, wherein the rotary actuator is coupled to the first housing portion and configured to rotate the first housing portion and the second housing portion about the central axis; and A plurality of linear actuators, each of the plurality of linear actuators being at least partially housed within and extending outward from the second housing portion, and the plurality of linear actuators comprising 17 or more linear actuators.

17. The robot forearm assembly of claim 16, wherein, The plurality of linear actuators includes a plurality of hand linear actuators and a pair of wrist linear actuators, wherein each of the plurality of hand linear actuators and the pair of wrist linear actuators extends in a longitudinal direction generally parallel to the central axis.

18. The robot forearm assembly of claim 17, wherein, The plurality of hand linear actuators include a first subset of hand actuators and a second subset of hand actuators, wherein the first subset of hand actuators is arranged radially outward relative to the second subset of hand actuators, wherein the first subset of hand actuators is arranged in a circumferential pattern, and wherein each actuator in the first subset of hand actuators is spaced apart from each other in the circumferential direction.

19. The robot forearm assembly of claim 16, further comprising a rotary printed circuit board assembly electrically coupled to the rotary actuator; and a linear printed circuit board assembly electrically coupled to the plurality of linear actuators, wherein, Both the rotary printed circuit board assembly and the linear printed circuit board assembly are arranged inside the housing.

20. A robot forearm assembly, comprising: A housing that defines a central axis extending along a first housing portion and a second housing portion; A rotary actuator is disposed within the first housing portion, wherein the rotary actuator is coupled to the first housing portion and configured to cause the first housing portion and the second housing portion to rotate about the central axis; A plurality of linear actuators, each of the plurality of linear actuators being at least partially housed within the second housing portion and extending outward from the second housing portion; A rotating printed circuit board assembly, the rotating printed circuit board assembly being electrically coupled to the rotary actuator; and A linear printed circuit board assembly electrically coupled to the plurality of linear actuators, wherein both the rotary printed circuit board assembly and the linear printed circuit board assembly are arranged inside the housing.

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