Wrist joint for a robot hand

Abstract

A joint assembly includes a first structure defining a curved first contact surface, a second structure defining a curved second contact surface facing the first contact surface, and a flexible member having a first end fixedly coupled to the first structure and a second end fixedly coupled to the second structure. The flexible member movably couples the first structure to the second structure such that the second structure is pivotable relative to the first structure about a transverse axis that moves along the first and second contact surfaces as the second structure pivots.

Description

[0001] Cross-reference of related applications This application claims the benefit and priority of U.S. Provisional Application No. 63 / 706,005, 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 joint assemblies for movably connecting parts of a robotic appendage. 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. It may be desirable for such joints to movably connect two parts while allowing communication between them. Summary of the Invention

[0004] In at least one embodiment, a coupling device for a robotic appendage includes: a bracket, a structure, a universal joint, a first actuator, a second actuator, a first link, and a second link. The bracket is fixed to a first component of the robotic appendage. The structure is fixed to a second component of the robotic appendage. The universal joint is pivotally coupled to the bracket about a deflection axis and to the structure about a pitch axis. The first actuator is coupled to the first component. The second actuator is coupled to the first component. The first link is coupled to the first actuator at its proximal end and to the structure at its distal end. The second link is coupled to the second actuator at its proximal end and to the structure at its distal end.

[0005] In some embodiments, the robotic appendage includes a robotic arm. The coupling device is the wrist joint of the robotic arm for pivotally coupling the forearm and hand.

[0006] In some embodiments, the deflection axis and the pitch axis are perpendicular to each other. The first and second actuators are operable to extend and retract to pivot the universal joint, the second member, and the structure relative to the support about the deflection axis. The first and second actuators are operable to extend and retract to pivot the second member and the structure relative to the universal joint about the pitch axis.

[0007] In some embodiments, a first link and a first actuator are positioned on a first side of the deflection axis. A second link and a second actuator are positioned on a second side of the deflection axis. The first and second links extend above the pitch axis.

[0008] In some embodiments, the universal joint is a central universal joint that couples the bracket to the structure. The connection device also includes a first coupling universal joint and a second coupling universal joint. The distal end of the first link is coupled to the structure via the first coupling universal joint. The distal end of the second link is coupled to the structure via the second coupling universal joint.

[0009] In some embodiments, a first coupling universal joint and a second coupling universal joint define a first axis and a second axis, the first axis being substantially parallel to the pitch axis of the center universal joint, and the second axis being radially offset from the deflection axis and not parallel to the deflection axis.

[0010] In some embodiments, the coupling device further includes a track extending longitudinally along the first member and the support. The track is configured to receive a first slider on a first side and a second slider on a second side. A proximal end of a first link is coupled to the first slider, and a proximal end of a second link is coupled to the second slider. A first actuator is configured to move the first slider along the first side of the track, and a second actuator is configured to move the second slider along the second side of the track.

[0011] In some embodiments, the universal joint is cantilevered and coupled to the bracket around the deflection axis. In this cantilever arrangement, the bearing is coupled to both the bracket and the universal joint, and defines a volume below the universal joint. This volume provides space for control cables.

[0012] In some embodiments, the structure defines a notch facing the universal joint and the bracket. The notch is configured to receive an end of the bracket and a portion of the universal joint when the second member and the structure pivot about a pitch axis in the extension direction.

[0013] In at least one embodiment, a robot lower arm assembly includes a forearm member, a hand member, and a wrist assembly. The wrist assembly includes a gimbal, a first actuator, and a second actuator. The gimbal is pivotally coupled to a support of the forearm member about a deflection axis and pivotally coupled to the hand member about a pitch axis. The deflection axis and the pitch axis are perpendicular to each other. The first actuator is configured to provide a first force to a first side of the hand member. The second actuator is configured to provide a second force to a second side of the hand member. The first and second actuators are operable to provide the first and second forces to the hand member to perform at least one of the following actions: (i) pivoting the gimbal and the hand member relative to the forearm member about the deflection axis, and (ii) pivoting the hand member relative to the gimbal about the pitch axis.

[0014] In some embodiments, the wrist assembly includes a first link and a second link. The first link is coupled to a first actuator at its proximal end and to a hand member at its distal end. The second link is coupled to a second actuator at its proximal end and to the hand member at its distal end. The first and second actuators are configured to provide a first force and a second force to the hand member, respectively, via the first and second links.

[0015] In some embodiments, the first link and the first actuator are positioned on a first side of the deflection axis, and the second link and the second actuator are positioned on a second side of the deflection axis.

[0016] In some embodiments, the universal joint is a central universal joint that couples the hand component to the forearm component. The wrist assembly includes a first coupling universal joint and a second coupling universal joint. The distal end of a first link is coupled to the hand component via the first coupling universal joint, and the distal end of a second link is coupled to the hand component via the second coupling universal joint.

[0017] In some embodiments, the first coupling universal joint and the second coupling universal joint include a first axis and a second axis, the first axis being substantially parallel to the pitch axis of the central universal joint, and the second axis being radially offset from the deflection axis and not parallel to the deflection axis.

[0018] In some embodiments, the robot lower arm assembly includes a track extending longitudinally from the forearm member. The track is configured to receive a first slider on a first side and a second slider on a second side. A proximal end of a first link is coupled to the first slider, and a proximal end of a second link is coupled to the second slider. A first actuator is configured to move the first slider along the first side of the track, and a second actuator is configured to move the second slider along the second side of the track.

[0019] In at least one embodiment, a wrist assembly for a robotic arm includes a support, a structure, a gimbal, a first actuator, a second actuator, a first connecting member, and a second connecting member. The support is fixed to the forearm of the robotic arm. The structure is fixed to the hand of the robotic arm. The gimbal is pivotally coupled to the support about a deflection axis and to the structure about a pitch axis. The deflection axis and the pitch axis are perpendicular to each other. The first actuator is coupled to the forearm. The second actuator is coupled to the forearm. The first connecting member is coupled to the first actuator at its proximal end and to the structure at its distal end. The second connecting member is coupled to the second actuator at its proximal end and to the structure at its distal end. The first and second actuators are operable to independently control the position of the hand relative to the forearm about the deflection axis and the pitch axis.

[0020] In some embodiments, the universal joint is a central universal joint that couples the support to the structure. The wrist assembly also includes a first coupling universal joint and a second coupling universal joint. The distal end of the first connecting member is coupled to the structure via the first coupling universal joint, and the distal end of the second connecting member is coupled to the structure via the second coupling universal joint.

[0021] In some embodiments, a first coupling universal joint and a second coupling universal joint define a first axis and a second axis, the first axis being substantially parallel to the pitch axis of the center universal joint, and the second axis being radially offset from the deflection axis and not parallel to the deflection axis.

[0022] In some embodiments, the wrist assembly includes a track extending longitudinally along the forearm and support. The track is configured to receive a first slider on a first side and a second slider on a second side. A first actuator is configured to move the first slider along the first side of the track, and a second actuator is configured to move the second slider along the second side of the track.

[0023] In some embodiments, the structure defines a notch facing the universal joint and the bracket. The notch is configured to receive an end of the bracket and a portion of the universal joint when the hand and the structure pivot about a pitch axis in the extension direction.

[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 This is a side view of a robotic arm assembly including a wrist component according to one embodiment.

[0026] Figure 2 yes Figure 1 A top view of the robot arm assembly.

[0027] Figure 3 yes Figure 1 A perspective view of the wrist assembly of the robotic arm when it is in the first position around the pivot axis.

[0028] Figure 4 yes Figure 1 A perspective view of the wrist assembly in its second position around the pivot axis.

[0029] Figure 5 yes Figure 1 A perspective view of the wrist assembly in its first position around the deflection axis.

[0030] Figure 6 yes Figure 1 A perspective view of the wrist assembly in its second position around the deflection axis.

[0031] Figure 7 yes Figure 1 Side view of the bearing in the wrist assembly. Detailed Implementation

[0032] 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.

[0033] Referring generally to the accompanying drawings, the robot's robotic appendage includes a first component (e.g., a forearm) and a second component (e.g., a hand). The second component is coupled to the first component via a coupling device (e.g., a wrist assembly). The coupling device allows the second component to rotate relative to the first component about a yaw axis and a pitch axis. The second component can be driven by a pair of actuators to rotate about either the yaw axis or the pitch axis. The coupling device includes a universal joint (e.g., a central universal joint) defining the yaw axis. Specifically, the universal joint is rotatably coupled to a support of the first component about the yaw axis, such that the universal joint can rotate relative to the first component in a first or second direction (e.g., clockwise or counterclockwise, radial, and ulnar deviation, etc.). The coupling device also includes a structure pivotally coupled to the universal joint about the pitch axis. The pitch axis is perpendicular to the yaw axis. The pitch axis is positioned in front of the first axis and closer to the structure than the yaw axis.

[0034] The coupling device also includes a pair of links. Each of the links is coupled at a first end to the end of a corresponding linear actuator. Each of the links is coupled at a second end to a corresponding coupling universal joint in a pair of coupling universal joints. The links at their first ends are constrained to move in a linear direction without lateral movement. The second ends of the links are pivotally coupled to the coupling universal joints and are rotatable relative to the coupling universal joints about a first axis of the coupling universal joints. The coupling universal joints may also define a second axis parallel to the pitch axis. The coupling device may include a rail extending centrally through a support; and may include a slider slidably coupled to the rail on the opposite side. The first ends of the links are coupled to the sliders on the opposite side of the rails to constrain the first ends of the links and the ends of the actuators to linear movement (e.g., translation) along the rails. The universal joints may be cantilevered and coupled to the support via bearings, thereby providing space below the universal joints for control cables (e.g., chords). The actuator can be operated to rotate the second member relative to the first member about a yaw axis or a pitch axis. For example, if the actuator extends or retracts at the same speed or rate, the second member can rotate relative to the first member about a pitch axis. Similarly, if the actuator extends or retracts at different speeds or rates, the second member can rotate relative to the first member about a yaw axis.

[0035] Overview See Figure 1A humanoid appendage, robotic appendage, limb, engagement assembly, poseable assembly, or finger is shown as a robotic arm assembly 10. The robotic arm assembly 10 includes a forearm 12 (e.g., a first member, forearm member, upper member, etc.) and a hand 14 (e.g., a second member, hand member, hand assembly, lower member, articulated member, etc.). The hand 14 is coupled to the forearm 12 via a joint assembly 100 (e.g., a coupling device, wrist assembly, joint, etc.). The joint assembly 100 allows the hand 14 to rotate relative to the forearm 12 about a first axis (shown as a deflection axis 102) and a second axis (shown as a pitch axis 104).

[0036] The joint assembly 100 includes a support 112 (e.g., a fixation member, forearm frame, etc.), a hand structure 120 (e.g., a structure, hand frame member, hand frame, etc.), and a universal joint 118. The support 112 is received within or forms part of the forearm 12. In some embodiments, the support 112 is fixed (e.g., anchored) to the forearm 12. In some embodiments, the support 112 is fixed to the forearm frame member 110. Similarly, the hand structure 120 (e.g., a frame, palm member, hand frame, hand member, etc.) is disposed within the hand 14. The hand structure 120 can be fixed to the hand 14 and can be received within or forms part of the hand 14.

[0037] Universal joint 118 is rotatably coupled to both support 112 and hand structure 120. Specifically, universal joint 118 is pivotally coupled to support 112 about deflection axis 102 and to hand structure 120 about pitch axis 104. Universal joint 118 may define both deflection axis 102 and pitch axis 104. Deflection axis 102 and pitch axis 104 are perpendicular to each other and defined by corresponding portions of universal joint 118. Universal joint 118 may be rotatably coupled to support 112 about deflection axis 102 via bearings (e.g., ball bearings, roller bearings, etc.) and rotatably coupled to hand structure 120 about pitch axis 104. Specifically, universal joint 118 may be coupled to an end of support 112. Joint assembly 100 facilitates radial and ulnar deviation of hand 14 about deflection axis 102, and flexion and extension of hand 14 about pitch axis 104. The bracket 112 includes an upper member 113a and a lower member 113b, which are offset from each other to define a space. A universal joint 118 is positioned between the upper member 113a and the lower member 113b. Figure 2 As shown, along centerline 16 or in a direction parallel to centerline 16 (e.g., longitudinal direction), pitch axis 104 is offset from yaw axis 102 by a distance of 136.

[0038] The joint assembly 100 also includes a plurality of actuators 116, including a first actuator 116a and a second actuator 116b; and a plurality of links 114, including a first link 114a (e.g., a connecting member, rod, bar, etc.) and a second link 114b (e.g., a connecting member, rod, bar, etc.). The first actuator 116a and the second actuator 116b may be telescopic linear actuators. The first actuator 116a and the second actuator 116b are coupled to the forearm frame member 110. In particular, the first actuator 116a and the second actuator 116b are constrained such that the first actuator 116a and the second actuator 116b do not pivot or move laterally during telescoping. Thus, the first actuator 116a and the second actuator 116b are configured to provide only linear motion without rotating or otherwise moving themselves. The first actuator 116a and the second actuator 116b are located on opposite sides of the support 112. Specifically, the first actuator 116a and the second actuator 116b can be offset from the deflection axis 102 to define the torque arm, and the first actuator 116a and the second actuator 116b can provide torque in either direction to drive the universal joint 118 to rotate about the deflection axis 102 (e.g., to independently control the position of the hand 14 relative to the forearm 12). Figure 2 As shown, the first link 114a and the second link 114b are located on opposite sides of the centerline 16 of the forearm 12. The first actuator 116a is configured to apply a first force on the first side 140 of the hand structure 120 via the first link 114a, and the second actuator 116b is configured to apply a second force on the second side 142 of the hand structure 120 via the second link 114b.

[0039] like Figures 1 to 6 As shown, the joint assembly 100 also includes a pair of links, shown as a first link 114a and a second link 114b. The first link 114a is coupled to the end of a first actuator 116a at its proximal end 126 (e.g., a first end) and to the hand structure 120 at its distal end 128 (e.g., a second end). Similarly, the second link 114b is coupled to the end of a second actuator 116b at its proximal end 126 (e.g., a first end) and to the hand structure 120 at its distal end 128 (e.g., a second end). The first link 114a and the second link 114b are positioned on opposite sides of the centerline 16 of the forearm 12. The distal end 128 of the link 114 can be configured as a forked end, a U-shaped clamp, a U-shaped protrusion, etc.

[0040] like Figure 2As shown, the first link 114a and the second link 114b each have a curved shape or an angled shape. Specifically, the first link 114a and the second link 114b each have a first portion and a second portion, the first portion being angled outward from the proximal end 126 relative to the center line 16, and the second portion being angled inward towards the distal end 128 relative to the center line 16. For example, as... Figure 2 As shown, the first link 114a and the second link 114b protrude outward from the actuator 116 and then inward toward opposite sides of the hand structure 120. The angled shape of the first link 114a and the second link 114b helps to improve the range of rotation of the universal joint 118 about the deflection axis 102 and the pitch axis 104 by providing additional space or clearance between the bracket 112 and the link 114.

[0041] like Figures 1 to 6 As shown, link 114 is coupled to hand structure 120 via a secondary universal joint (shown as coupling universal joint 122). In some embodiments, universal joint 118 is a central universal joint. Coupling universal joint 122 is positioned on opposite sides of hand structure 120 such that link 114 is configured to apply torque to rotate hand structure 120 and universal joint 118 about deflection axis 102 in either direction. Coupling universal joint 122 is pivotally coupled to the distal end 128 of link 114 about a first axis 106 (shown as first axis 106a and first axis 106b) on opposite sides of hand structure 120 (e.g., front and rear, or left and right sides). First axis 106 is substantially perpendicular to pitch axis 104. Viewed from the side of robot arm assembly 10, first axis 106 is angularly offset relative to deflection axis 102. In particular, first axis 106 is not parallel to deflection axis 102. For example, as Figure 1 As shown, the deflection axis 102 is perpendicular to both the pitch axis 104 and the centerline 16, and extends in a vertical or upward direction. However, as Figure 1 As shown, the first axis 106 is angled, such that when the hand 14 is in the position as Figure 1 In the intermediate position shown, the first axis 106 extends upwards and forwards toward the hand 14. (As shown) Figure 2 As shown, the first axis 106 extends inward toward the centerline 16. Thus, the first axis 106 is angled both toward the hand 14 and inward toward the centerline 16. The coupling universal joint 122 may include a hole or opening that defines the first axis 106 and aligns with a corresponding opening at the distal end 128. In some embodiments, a pin or cylindrical member is received within the opening at the distal end 128 (e.g., formed in the opposite portion of the forked end) and the hole defining the first axis 106 in the coupling universal joint 122.

[0042] In some embodiments, the orientation and offset of the deflection axis 102, pitch axis 104, and the first axis 106 of the coupled universal joint 122 are selected such that the deflection and pitch rotation of the hand 14 relative to the forearm 12 can be controlled independently and simultaneously using only two actuators 116. Specifically, the first axis 106 of the coupled universal joint 122 is radially offset from the deflection axis 102 and is not parallel to the deflection axis 102, while the second axis 108 of the coupled universal joint 122 is substantially parallel to the pitch axis 104 of the central universal joint. This geometry allows differential actuation between the first and second actuators 116 to achieve rotation about the deflection axis 102, while uniform actuation of the first and second actuators 116 achieves rotation about the pitch axis 104. As a result, the wrist assembly (i.e., joint assembly 100) is able to achieve full two-degree-of-freedom control without providing a separate dedicated actuator for each axis, thereby reducing the number of parts, lowering mechanical complexity and weight, while maintaining precise responsive movement in the deflection and pitch directions.

[0043] The coupling universal joint 122 also defines a second axis 108, shown in the figure as second axis 108a and second axis 108b. The second axis 108 is parallel to the pitch axis 104. The second axis 108 is positioned above the pitch axis 104 (e.g., above the pitch axis, offset in a direction parallel to the yaw axis 102). The second axes 108 are coaxial with each other. The coupling universal joint 122 is pivotally coupled to the hand structure 120 about the second axis 108. The coupling universal joint 122 facilitates coupling the first link 114a and the second link 114b to the hand structure 120, such that the first link 114a and the second link 114b can move the universal joint 118 and the hand structure 120 to rotate about the yaw axis 102 and the pitch axis 104. The coupling universal joint 122 can be coupled to the first side 140 and the second side 142 of the hand structure 120 in a manner similar to the coupling of the distal end 128 of the connecting rod 114 to the coupling universal joint at the first axis 106.

[0044] like Figure 1 and Figures 3 to 6As shown, the joint assembly 100 includes a track 132 (e.g., an elongated member, etc.). The track 132 is disposed between the upper member 113a and the lower member 113b of the support 112. An actuator 116 may also be located between the upper member 113a and the lower member 113b and is configured to extend and retract in a direction parallel to the centerline 16. Similarly, the track 132 extends in a direction parallel to the centerline 16 (e.g., longitudinally). The track 132 is configured to receive a pair of track members 134 (e.g., sliders, sliding members, etc.) that are slidably coupled to the track 132. The end of the actuator 116 is coupled to the track member 134. The proximal end 126 of the link 114 is also coupled to the corresponding track member 134. Specifically, the proximal end 126 of the first link 114a is coupled to the first track member 134 (e.g., the first slider) on the first side of the track 132, and the proximal end 126 of the second link 114b is coupled to the second track member 134 (e.g., the second slider) on the second side of the track 132.

[0045] The track member 134 restricts the movement of the end of the actuator 116 and the proximal end 126 of the link 114 to linear motion along the track 132. The actuator 116 is configured to extend and retract to drive the corresponding track member 134 to move along the track 132. The link 114 is coupled to the track member 134 at its proximal end 126 to restrict the movement of the proximal end 126 of the link 114 to linear motion along the track 132.

[0046] like Figure 3 and Figure 4 As shown, actuator 116 is operable to drive hand structure 120 to rotate about pitch axis 104. Actuator 116 can extend in the same direction at the same rate or with the same amount of displacement to rotate hand structure 120 and hand 14 about pitch axis 104 in a first direction (e.g., along the flexion direction). Actuator 116 can retract at the same rate or with the same amount of displacement to rotate hand structure 120 and hand 14 about pitch axis 104 in a second direction (e.g., along the extension direction). Thus, actuator 116 can be operated such that hand structure 120 and hand 14 undergo extension or flexion relative to forearm 12, forearm frame member 110, brace 112, and universal joint 118. For example, first actuator 116a and second actuator 116b can be operated to extend or retract simultaneously to rotate hand structure 120 about pitch axis 104 in either the flexion or extension direction. The flexion direction of rotation about pitch axis 104 is when hand structure 120 rotates from... Figure 3 Move to the indicated position Figure 4 The direction of rotation experienced at the indicated position. Conversely, the hand structure 120 experiences rotation from... Figure 4 The location shown is to Figure 3 The direction of rotation about the pitch axis 104 at the position shown.

[0047] See Figure 2 , Figure 3 and Figure 4 The hand structure 120 includes a notch 124 (e.g., space, area, gap, recess, etc.) facing the universal joint 118. The hand structure 120 may generally have a U-shaped form defining the notch 124. The width of the notch 124 may correspond to or be greater than the outer diameter of the support 112 at the deflection axis 102. Thus, when the hand structure 120... Figure 3 When the arm rotates along the extension direction to the extension boundary (e.g., the outer rotation limit along the extension direction), the upper member 113a of the bracket 112 at the deflection axis 102 can be accommodated in the notch 124. The notch 124 allows the hand structure 120 to move further or expand its range of motion about the pitch axis 104 along the extension direction.

[0048] like Figure 5 and Figure 6 As shown, actuator 116 is operable to drive hand structure 120 and universal joint 118 to rotate about deflection axis 102. Actuator 116 can extend in the same or different directions at different rates or with different amounts of displacement to rotate hand structure 120, hand 14, and universal joint 118 about deflection axis 102. Actuator 116 can be operable to rotate hand structure 120, hand 14, and universal joint 118 about deflection axis 102 in a first direction (e.g., a radial deviation direction) or about deflection axis 102 in a second direction (e.g., an ulnar deviation direction). For example, first actuator 116a and second actuator 116b can extend and retract at different rates to enable hand structure 120, hand 14, and universal joint 118 to rotate about deflection axis 102 in the ulnar or radial direction.

[0049] See Figure 7 Universal joint 118 can be coupled to bracket 112 via a cantilever bearing assembly. The cantilever bearing assembly includes a bearing assembly 200 having a bearing 202 disposed within and extending between upper member 113a and lower member 113b. In some embodiments, a portion of universal joint 118 is positioned between upper member 113a and lower member 113b. Universal joint 118 can be supported and suspended from upper member 113a and lower member 113b of bracket 112. Universal joint 118 is rotatably coupled to bracket 112 via bearing 202. In some embodiments, universal joint 118 is coupled to the outer raceway of bearing 202. For example, universal joint 118 may include a hole at a first portion in which bearing 202 is positioned. In some embodiments, universal joint 118 is coupled to the outer raceway of bearing 202 via the inner surface of the hole. The upper component 113a and the lower component 113b can be coupled to the inner raceway of the bearing 202 via the first fastener 204 and the second fastener 206, respectively.

[0050] In some embodiments, a cantilever arrangement is provided such that a volume 130 (e.g., space, area, gap, etc.) is formed below the bearing 202. The volume 130 provides clearance for control cables 208 (e.g., tendons, hand control cables, etc.) so that the control cables 208 do not interfere with each other or with the movement of the hand 14. In some embodiments, the volume 130 provides space such that there is sufficient clearance between the hand control cable and the finger control cable.

[0051] In some embodiments, the spatial arrangement of the gimbal 118, actuator 116, link 114, and associated track 132 within the forearm 12 (e.g., the forearm assembly) is specifically configured to optimize the available internal volume of the forearm 12. This arrangement (including the cantilever mounting of the gimbal 118 to form a cable gap below the joint, and the positioning of the actuator 116 along opposite sides of the central track) allows the forearm 12 to accommodate more finger actuators compared to a conventional wrist joint configuration. By reducing interference between wrist actuators and finger tendon wiring, this design allows for increased actuator capacity within the forearm 12, thereby enhancing the flexibility and power of the robotic hand and expanding its range of motion without increasing the overall size of the forearm assembly.

[0052] 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.

[0053] 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).

[0054] 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.

[0055] 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 such variations are intended to be covered by this disclosure.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] It is important to note that the construction and arrangement of the fingers 10 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. For example, at least Figure 2 The actuator cable 30 in the exemplary embodiment shown can be coupled to at least Figure 1 The exemplary embodiment shown is a finger 10. Although only one example of how elements in one embodiment can be incorporated into or used in another embodiment has been described above, it should be understood that other elements of various embodiments can also be incorporated into or used in any other embodiment disclosed herein.

Claims

1. A coupling device for a robot appendage, the coupling device comprising: A support, the support being fixed to a first component of the robot appendage; A structure, the structure being fixed to a second component of the robot's appendage; Universal joint, which is pivotally coupled to the bracket about a deflection axis and to the structure about a pitch axis; A first actuator, wherein the first actuator is coupled to the first component; A second actuator, which is coupled to the first component; A first link, which is coupled to the first actuator at its proximal end and to the structure at its distal end; as well as The second link is coupled to the second actuator at its proximal end and to the structure at its distal end.

2. The connecting device according to claim 1, wherein, The robotic appendage includes a robotic arm, and the coupling device is the wrist joint of the robotic arm for pivotally coupling the forearm and hand.

3. The connecting device according to claim 1, in, The yaw axis and the pitch axis are perpendicular to each other; The first and second actuators are operable to extend and retract to pivot the universal joint, the second component, and the structure relative to the bracket about the deflection axis; and The first actuator and the second actuator are operable to extend and retract to pivot the second member and the structure about the pitch axis relative to the universal joint.

4. The connecting device according to claim 1, wherein, The first link and the first actuator are positioned on a first side of the deflection axis, and the second link and the second actuator are positioned on a second side of the deflection axis, the first link and the second link extending above the pitch axis.

5. The connecting device according to claim 1, wherein, The universal joint is a central universal joint that couples the bracket to the structure. The connecting device also includes a first coupling universal joint and a second coupling universal joint. The distal end of the first link is coupled to the structure via the first coupling universal joint, and the distal end of the second link is coupled to the structure via the second coupling universal joint.

6. The connecting device according to claim 5, wherein, The first and second coupling universal joints define a first axis and a second axis, the first axis being radially offset from and not parallel to the deflection axis, and the second axis being substantially parallel to the pitch axis of the center universal joint.

7. The coupling device of claim 1, further comprising a track extending longitudinally along the first member and the bracket, the track being configured to receive a first slider on a first side and a second slider on a second side, a proximal end of the first link being coupled to the first slider and a proximal end of the second link being coupled to the second slider, a first actuator being configured to move the first slider along the first side of the track, and a second actuator being configured to move the second slider along the second side of the track.

8. The connecting device according to claim 1, wherein, The universal joint is coupled to the bracket in a cantilever arrangement around the deflection axis. In the cantilever arrangement, a bearing is coupled to the bracket and the universal joint and defines a volume below the universal joint, wherein the volume provides space for control cables.

9. The connecting device according to claim 1, wherein, The structure defines a notch facing the universal joint and the bracket, the notch being configured to receive an end of the bracket and a portion of the universal joint when the second member and the structure pivot about the pitch axis in the extension direction.

10. A robot lower arm assembly, the robot lower arm assembly comprising: Forearm components; Hand-made components; as well as Wrist assembly, the wrist assembly comprising: A universal joint is pivotally coupled to the support of the forearm member about a deflection axis and to the hand member about a pitch axis, the deflection axis and the pitch axis being perpendicular to each other. A first actuator, configured to provide a first force to a first side of the hand member; and A second actuator, configured to provide a second force to a second side of the hand member. The first actuator and the second actuator are operable to provide the first force and the second force to the hand member to perform at least one of the following actions: (i) pivoting the universal joint and the hand member relative to the forearm member about the deflection axis, and (ii) pivoting the hand member relative to the universal joint about the pitch axis.

11. The robot lower arm assembly according to claim 10, wherein, The wrist assembly also includes: A first link, the first link being coupled to the first actuator at its proximal end and to the hand component at its distal end; and The second link is coupled to the second actuator at its proximal end and to the hand component at its distal end; The first actuator and the second actuator are configured to provide the first force and the second force to the hand component via the first link and the second link, respectively.

12. The robot lower arm assembly according to claim 11, wherein, The first link and the first actuator are positioned on a first side of the deflection axis, and the second link and the second actuator are positioned on a second side of the deflection axis.

13. The robot lower arm assembly according to claim 11, wherein, The universal joint is a central universal joint that couples the hand component and the forearm component together. The wrist component also includes a first coupling universal joint and a second coupling universal joint. The distal end of the first link is coupled to the hand component via the first coupling universal joint, and the distal end of the second link is coupled to the hand component via the second coupling universal joint.

14. The robot lower arm assembly according to claim 13, wherein, The first and second coupling universal joints include a first axis and a second axis, the first axis being radially offset from the deflection axis and not parallel to the deflection axis, and the second axis being substantially parallel to the pitch axis of the center universal joint.

15. The robot lower arm assembly of claim 10, further comprising a track extending longitudinally from the forearm member, the track being configured to receive a first slider on a first side and a second slider on a second side, a proximal end of a first link coupled to the first slider and a proximal end of a second link coupled to the second slider, a first actuator being configured to move the first slider along a first side of the track, and a second actuator being configured to move the second slider along a second side of the track.

16. A wrist assembly for a robotic arm, the wrist assembly comprising: A support frame, which is fixed to the forearm of the robotic arm; Structure, the structure being fixed to the hand of the robotic arm; A universal joint, which is pivotally coupled to the bracket about a deflection axis and to the structure about a pitch axis, wherein the deflection axis and the pitch axis are perpendicular to each other; A first actuator, the first actuator being coupled to the forearm; A second actuator, which is coupled to the forearm; A first connecting member is coupled to the first actuator at its proximal end and to the structure at its distal end; as well as A second connecting member is coupled to the second actuator at its proximal end and to the structure at its distal end. The first actuator and the second actuator are operable to independently control the position of the hand relative to the forearm around the deflection axis and the pitch axis.

17. The wrist assembly of claim 16, wherein, The universal joint is a central universal joint that couples the bracket to the structure. The wrist assembly also includes a first coupling universal joint and a second coupling universal joint. The distal end of the first connecting member is coupled to the structure via the first coupling universal joint, and the distal end of the second connecting member is coupled to the structure via the second coupling universal joint.

18. The wrist assembly of claim 17, wherein, The first and second coupling universal joints define a first axis and a second axis, the first axis being substantially parallel to the pitch axis of the central universal joint, and the second axis being radially offset from the deflection axis and not parallel to the deflection axis.

19. The wrist assembly of claim 16, further comprising a track extending longitudinally along the forearm and the support, the track being configured to receive a first slider on a first side and a second slider on a second side, the first actuator being configured to move the first slider along the first side of the track, and the second actuator being configured to move the second slider along the second side of the track.

20. The wrist assembly of claim 16, wherein, The structure defines a notch facing the universal joint and the bracket, the notch being configured to receive an end of the bracket and a portion of the universal joint when the hand and the structure pivot about the pitch axis in the extension direction.

Images