Extending and retracting actuators with parallel arrangement

Abstract

An exemplary system comprises an end effector, a base, a first actuator, a second actuator, and a control circuit. The first actuator comprises a proximal end coupled to the base at a first joint, a distal end coupled to the end effector, a rotatable member, and a winding support member coupled to the distal end. At least a portion of the first length is configured to wind around the rotatable member and to unwind from the rotatable member. The second actuator is a proximal end coupled to the base at a second joint, the second joint comprising a proximal end separated from the first joint at a distance and a distal end coupled to the end effector. The control circuit is configured to extend and retract the first actuator along its axis and to extend and retract the second actuator along its axis.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefit of U.S. Provisional Application No. 63 / 587,436, filed on October 2, 2023, and U.S. Provisional Application No. 63 / 466,091, filed on May 12, 2023, the entire disclosures of which are incorporated herein by reference for all purposes.

[0002] (Field) Embodiments of the present disclosure generally relate to actuators, and more specifically, to extendable and retractable robotic actuator systems and methods for controlling the same.

Background Art

[0003] (Background) Robotic systems are expected to increase in use across a variety of fields such as healthcare, agriculture, manufacturing, construction, warehousing, logistics, retail, transportation, entertainment, defense, and household use. Robotic systems can operate autonomously via a programmable computer - controlled system, under the direction of a human operator, or via a combination of human and computer control, etc. In some cases, collaborative robots (or "cobots") can interact or work collaboratively with humans, either directly or indirectly.

[0004] Some robotic systems include a robotic arm for manipulating an object or performing other tasks via an end - effector. For example, the end - effector can include a gripper for picking up and moving an object, or a tool (such as a drill, laser, or welding torch, etc.) for performing a specific task. In some embodiments, the end - effector can include a sensor such as a camera or microphone, and the robotic arm can manipulate the position and orientation of the sensor. It should be understood that various other end - effectors or end - effector components can be used.

[0005] Some robotic arms use a series configuration of joints and linkage mechanisms (e.g., linear actuators) to operate an end effector. For example, a robotic arm may include a base, a first linkage mechanism coupled to the base at the shoulder joint, a second linkage mechanism coupled to the first linkage mechanism at the elbow joint, and an end effector coupled to another end of the second linkage mechanism. However, arms with such series configurations suffer from disadvantages, including joint error propagation (e.g., error propagation from the shoulder joint to the elbow joint) and low torque production, both of which can limit the arm's ability to operate the end effector effectively and repeatedly, especially with respect to precision applications.

[0006] Disclosed herein are systems and methods relating to actuators, such as linear actuators, that can be employed in a robotic arm. Actuators such as those described herein may be configured in parallel and used to operate an end effector. For example, two linear actuators may be coupled to a base at their first individual ends and to an end effector at their second individual ends. The actuators can be extended and retracted relative to the base so that the end effector is operated in space while enjoying sufficient structural support from the actuators. The embodiments described herein are advantageous in that they provide sufficient structural support, are suitable for large workspaces, and remain scalable to various environments or workspaces (including workbench-scale or room-scale workspaces), while avoiding the drawbacks associated with series configurations, such as reducing joint error propagation and improving torque production. [Overview of the project] [Means for solving the problem]

[0007] (Brief summary) According to one embodiment of the present disclosure, the system comprises an end effector, a base, a first actuator, a second actuator, and a control circuit. The first actuator comprises a proximal end coupled to the base at a first joint, a distal end coupled to the end effector, a rotatable member, and a winding support member coupled to the distal end. The winding support member has a first length. At least a portion of the first length is configured to wind around the rotatable member and to unwind from the rotatable member. The second actuator has a proximal end coupled to the base at a second joint, the second joint comprising a proximal end separated from the first joint at a distance and a distal end coupled to the end effector. The control circuit is configured to extend and retract the first actuator along the axis of the first actuator, and further configured to extend and retract the second actuator along the axis of the second actuator. Retracting the first actuator involves winding it around the rotatable member for a first length, and extending the first actuator involves unwinding it from the rotatable member for a first length. [Brief explanation of the drawing]

[0008] [Figure 1A] Figure 1A-1B illustrates an exemplary robot system according to an embodiment of the present disclosure. [Figure 1B] Figure 1A-1B illustrates an exemplary robot system according to an embodiment of the present disclosure.

[0009] [Figure 2A] Figures 2A-2C illustrate an exemplary robot system according to an embodiment of the present disclosure. [Figure 2B] Figures 2A-2C illustrate an exemplary robot system according to an embodiment of the present disclosure. [Figure 2C] Figures 2A-2C illustrate an exemplary robot system according to an embodiment of the present disclosure.

[0010] [Figure 3A] Figures 3A-3C illustrate exemplary configurations of a robot system according to embodiments of the present disclosure. [Figure 3B] Figures 3A-3C illustrate exemplary configurations of a robot system according to embodiments of the present disclosure. [Figure 3C] Figures 3A-3C illustrate exemplary configurations of a robot system according to embodiments of the present disclosure.

[0011] [Figure 4A] Figures 4A and 4B illustrate exemplary actuators according to embodiments of the present disclosure. [Figure 4B] Figures 4A and 4B illustrate exemplary actuators according to embodiments of the present disclosure.

[0012] [Figure 5A] Figures 5A-5C illustrate exemplary actuators according to embodiments of the present disclosure. [Figure 5B] Figures 5A-5C illustrate exemplary actuators according to embodiments of the present disclosure. [Figure 5C] Figures 5A-5C illustrate exemplary actuators according to embodiments of the present disclosure.

[0013] [Figure 6] Figure 6 illustrates an exemplary control system diagram for a robot system according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0014] (Detailed explanation) In the following description of the embodiments, accompanying drawings, which form part of this specification and are shown as illustrative specific examples that can be put into practice, will be referenced. It should be understood that other embodiments may be used and structural modifications may be made without departing from the scope of the disclosed embodiments.

[0015] Figures 1A-1B illustrate an exemplary robot system 100 according to some embodiments. In some embodiments, the robot system 100 includes actuators 110A and 110B, which may be described as linear actuators, a mounting structure 130 (which may be referred to as a base), and an end effector 150. The actuators 110A and 110B may be referred to as HERA (Hyper Extending and Retracting Actuator) actuators. In the illustrated example, as further described below, the actuators 110A and 110B each have an individual first end 124A / 124B coupled to the location of the mounting structure 130 and an individual second end 125A / 125B coupled to the end effector 150 (e.g., by a hinge 121). This configuration can be described as a parallel configuration of the actuators 110A and 110B. That is, the actuators 110A and 110B can operate in parallel with respect to the mounting structure 130 and the end effector 150 to manipulate the end effector 150. In comparison, a configuration where the first end of the actuator 110B is coupled to the second end of the actuator 110A rather than to the mounting structure 130 can be described as a series configuration of the actuators 110A and 110B, and thus, the actuators 110A and 110B operate in series to manipulate the end effector 150. Each individual first end of each actuator can be described as the proximal end of that actuator with respect to the mounting structure 130. Each individual second end of each actuator can be described as the distal end of that actuator with respect to the mounting structure 130. In some embodiments, the second ends 125A / 125B may be coupled to each other.

[0016] In some embodiments, actuators 110A and 110B may be coupled to mounting structure 130 at locations on the mounting structure 130 that are separated by a distance 120. In the example of FIG. 1, the mounting structure 130 is shown as a generally linear member, but other suitable embodiments of the mounting structure 130 are within the scope of the present disclosure. For example, in some cases, the mounting structure 130 can comprise two or more members in a suitable configuration. In some cases, the mounting structure 130 can comprise a curved or otherwise non-linear member. In some cases, the mounting structure 130 can comprise a wall, a vehicle, a workbench, or another suitable structural element. In some cases, the mounting structure 130 can comprise a radial span, and the actuators 110A and 110B can be coupled to a frame of the radial span and separated therealong. For example, the mounting structure 130 can comprise a window such that the actuators 110A and 110B are coupled to a frame of the window.

[0017] In FIGS. 1A and 1B, actuators 110A and 110B are shown with telescoping covers (111A and 111B, respectively). The telescoping covers 111A / 111B can comprise one or more telescoping members configured to expand and retract in accordance with the expansion or retraction of the actuators 110A / 110B. The telescoping covers 111A / 111B can protect the internal components of the actuators 110A / 110B from elements (e.g., foreign objects, dust, or other contaminants), conceal the internal components from view, promote user safety, and / or improve the aesthetic appearance of the actuators 110A / 110B, for example, by enabling the actuators to blend with the mounting structure 130 or the environment.

[0018] Actuators 110A and 110B can each be coupled to the mounting structure 130 at their respective proximal ends 124A / 124B via separate joints 140A / 140B. Joints 140A / 140B may be active or passive 1-DoF (degrees of freedom) joints that rotate about a single axis. In some embodiments, joints 140A / 140B may be active or passive 2-DoF joints that rotate about two axes. In some embodiments, the mounting structure 130 may rotate about one or more axes (e.g., vertical axes) and may also be moved and / or rotated via a wheeled platform such as platform 102 shown in Figure 1B. Thus, the robot system 100 and actuators 110A and 110B can be manufactured to move and rotate relative to the environment of the robot system 100.

[0019] In the embodiments shown, actuators 110A and 110B each have separate distal ends 125A / 125B coupled to the end effector 150. The end effector 150 may comprise any of the following: a gripper mechanism, a sensor (e.g., a scanning or ranging sensor such as a camera, microphone, LiDAR, infrared, sonar, or any other suitable sensor or combination of sensors), a tool for performing a task (e.g., a drill, laser, scalpel, measuring device, or any other suitable tool or combination of tools), or any other suitable effector. In some embodiments, the end effector 150 may comprise one or more interchangeable components, such as an interchangeable end effector head, which can be replaced in the field. The actuators 110A / 110B can extend and retract linearly along the longitudinal actuator axes 112A / 112B, so as to bring the distal end 125A / 125B (and the end effector 150 coupled to the distal end) closer to the proximal end 124A / 124B (and thus the robot base 130), as will be further described below.

[0020] In some embodiments, the control circuit network 160 can be used to control one or more aspects of the robot system 100, including actuators 110A / 110B, which are mounted on the mounting structure 130 via a cavity in the mounting structure 130 or a housing coupled to the mounting structure 130, as described below. The control circuit network 160 may include one or more components of the control system 600, as described below with respect to Figure 6.

[0021] Figures 2A-2C illustrate exemplary robotic systems 100 according to several embodiments, illustrating embodiments of how actuators 110A and 110B may extend and retract (by a control circuit network 160, etc., as described below) to operate an end effector 150 relative to a mounting structure 130. In each of Figures 2A-2C, actuators 110A and 110B each include a separate proximal end, which is coupled to the mounting structure 130 via a separate 1-DoF joint, forming a separate joint angle 118A / 118B relative to the mounting structure 130, and a separate distal end, which is coupled to the end effector 150. Since the end effector 150 is coupled to the distal end 125A of actuator 110A and further to the distal end 125B of actuator 110B, the location of the end effector 150 relative to a reference point 116 (which may be fixed relative to the mounting structure 130) is determined by the separate lengths of actuators 110A and 110B.

[0022] For example, in Figure 2A, actuators 110A and 110B extend along actuator axes 112A / 112B to substantially equal lengths such that the end effector 150 is positioned in a certain vector relative to the reference point 116 (i.e., at a certain distance from the reference point 116 and at a certain angle with respect to the axis containing the reference point 116). In Figure 2B, actuators 110A and 110B extend to a longer but still substantially equal length such that the end effector 150 is positioned in a certain vector relative to the reference point 116. In Figure 2C, actuator 110A is retracted to a shorter length compared to Figure 2B, and this length is shorter than the length of actuator 110B in Figure 2C, so that the end effector 150 is positioned in a certain vector relative to the reference point 116. It should be understood that the end effector 150 can be manipulated to be positioned at a desired vector (e.g., displacement and / or orientation) relative to the reference point 116 or the mounting structure 130 by extending and retracting actuators 110A and 110B, as illustrated in Figures 2A-2C. Furthermore, it should be understood that the position and orientation of the end effector 150 relative to the environment of the robot system 100 can be further manipulated by manipulating the mounting structure 130 and / or joints 140A / 140B. For example, the mounting structure 130 can be rotated (e.g., with respect to the vertical axis) or translated (e.g., by the movement of the platform 102), thereby manipulating the end effector 150 via actuators 110A and 110B coupled to the mounting structure 130.

[0023] Figures 3A-3C show exemplary configurations of the robot system 100, including two or more actuators. In Figures 3A and 3B, the exemplary robot system 100 comprises actuators 110A and 110B arranged in a parallel configuration to a mounting structure 130 (not shown), such as those described above. Actuators 110A and 110B are coupled to the mounting structure 130 via joints 140A and 140B at their respective proximal ends 124A and 124B, such as those described above. Actuators 110A and 110B are further coupled to an end effector 150 at their respective distal ends 125A and 125B, such as those described above.

[0024] In Figure 3A, joint 140A may comprise a passive rotary joint 140A-A, and joint 140B may comprise one or more of a passive rotary joint 140B-A and an active rotary joint 140B-B. Furthermore, in the embodiment of Figure 3A, the distal ends 125A and 125B are coupled to the end effector 150 via joint 105. Joint 105 may comprise a passive rotary joint 105-A through which the end effector 150 can rotate relative to actuators 110A and 110B.

[0025] In Figure 3B, the exemplary robot system 100 includes a third actuator 110C. Actuator 110C may be in a parallel configuration with actuators 110A and 110B. Actuator 110C can be coupled to a mounting structure 130 via a joint 140C, which may include a passive 2-DoF joint 140C-A at its proximal end 124C, and can be coupled to an end effector 150 via a joint 106, etc., at its distal end 125C. Joint 106 can be coupled to joint 105 and the end effector 150 via a rigid link mechanism 107. Joint 105 may include a passive 2-DoF joint 105-A, which is configured to rotate around two axes. Joint 106 may include a passive 2-DoF joint 106-A, which is configured to rotate around two axes. In Figure 3B, joint 140B may comprise a passive rotary joint 140B-A and a passive rotary joint 140B-C. Compared to the embodiment in Figure 3A in which joint B comprises an active rotary joint 140B-B, the passive rotary joint 140B-C allows actuators 110A and 110B to rotate around the axis by the extension and retraction of actuator 110C, which allows torque to be applied to actuators 110A and 110B by the rigid link mechanism 107. This may be advantageous in that it allows the end effector 150 to be operated in three dimensions by the movement (extension and retraction) of actuators 110A, 110B, and 110C without necessarily involving or requiring active drive rotation of joint 140B or mounting structure 130. As shown in the embodiment, joint 140B may be a passive joint.

[0026] In Figure 3C, the exemplary robot system 100 includes a third actuator 110C, which may be arranged in parallel with actuators 110A and 110B, as described above with respect to Figure 3B. In Figure 3C, joint 140A may comprise passive 2-DoF joints 140A-B, and joint 140B may comprise passive 2-DoF joints 140B-D. Joint 140C may comprise passive 2-DoF joints 140C-A, as described above with respect to Figure 3B. As described above with respect to Figure 3B, joint 106 may be coupled to joint 105 and end effector 150 via a rigid link mechanism 107. As described above with respect to Figure 3B, joint 106 may comprise passive 2-DoF joints 106-A, which are configured to rotate around two axes. In the embodiment shown with respect to Figure 3C, the joint 105 comprises a passive rotary joint 105-B, which can enable two-dimensional rotation of the rigid link mechanism 107 and the end effector 150 relative to the actuator 110A. Similar to the embodiment shown in Figure 3B, this exemplary configuration allows the end effector 105 to be manipulated in three dimensions relative to the environment by the movement (extension and retraction) of the actuators 110A, 110B, and 110C.

[0027] Figures 4A and 4B show a diagram of an exemplary actuator 110, which may correspond to any or all of the actuators 110A, 110B, or 110C described above with respect to the exemplary robotic system 100. The axis 112 of the actuator 110 (which may correspond to 112A / 112B described above) extends longitudinally along the actuator 110. The proximal end 124 of the actuator 110 (which may correspond to 124A / 124B described above) is configured to be coupled to the mounting structure 130 as described above, and the distal end 125 of the actuator 110 (which may correspond to 125A / 125B described above) is configured to be coupled to the end effector 150 via a hinge 121, etc., as described above. In embodiments, one or more components of the actuator 110 may be covered by a retractable cover, such as the retractable cover 111A / 111B described above with respect to Figures 1A and 1B.

[0028] In the embodiment, the actuator 110 includes one or more winding support members 170. The winding support members 170 are configured to provide rigidity and structural support for the actuator 110. In the embodiment, the winding support members 170 provide sufficient structural support to prevent structural failure when torque is applied to the actuator 110 via the end effector 150 (for example, when an object is lifted via the gripper of the end effector 150). Part or all of the winding support members 170 are configured to flexibly wind around one or more rotatable members 182, such as a spindle at the proximal end 124 as described below, allowing the actuator 110 to extend and retract, such as those described above. The winding support members 170 may be substantially elongated to allow winding around the rotatable members 182, as described below.

[0029] In some embodiments, the winding support member 170 may be made of a spring steel material such as 1075 spring steel. However, it should be understood that in embodiments, the winding support member 170 may be made of any of a variety of materials that provide both suitable structural support for the actuator 110 and suitable flexibility to allow the actuator 110 to extend and retract.

[0030] In the embodiments shown in Figures 4A and 4B, the actuator 110 includes two winding support members 170, each such member extending longitudinally along the side surface of the actuator 110 via an axis 112. In embodiments, it should be understood that the actuator 110 may include only a single winding support member 170, or may include three or more winding support members 170. One or more winding support members 170 may be coupled to the proximal end 124, as further described below. The winding support members 170 may also be coupled to the distal end 125 of the actuator 110, for example, by being fixed to an anchor point at the distal end 125, so that forces can be applied to the distal end 125 (and thus to the end effector 150) via the extension and retraction of the winding support members 170. In embodiments, a rigid cap or end plate at the distal end 125 can connect two or more winding support members 170.

[0031] An exemplary actuator 110 may include one or more section braces 172, which are arranged in series longitudinally along the actuator 110 via an axis 112, and each brace in series may be separated by a spacing 173, which may be adjustable as described below. Each section brace 172 may extend laterally across the actuator 110 and provide structural reinforcement for the winding support member 170. In some embodiments, the section braces 172 may be allowed to displace (e.g., slide) along the actuator 110 in accordance with the extension and retraction of the actuator 110, so that the spacing 173 between the section braces may increase or decrease accordingly. In embodiments, this may be achieved via one or more extendable and retractable cables 174, which may be coupled to a proximal end 124 and / or a distal end 125 and may be configured to extend and retract in accordance with the extension and retraction of the actuator 110. In some embodiments, the cables 174 may consist of spring steel such as 1075 spring steel or another preferred material. The cable 174 may be coupled to one or more of the section braces 172 such that the section braces 172 are pulled closer together by the cable 174 as the actuator 110 retracts, and pushed further away by the cable 174 as the actuator 110 extends. In some embodiments, the cable 174 may be located within the actuator 110 and / or within a negative space defined entirely or partially by the winding support member 170. In some embodiments, the section braces 172 may be retracted entirely or partially within the proximal end 124 as the section braces 172 are pulled closer together and as the actuator 110 retracts to the retracted position.

[0032] In some embodiments, a first cable (e.g., cable 174) is coupled to a first section brace of section brace 172, and further coupled to a mounting structure 130, a proximal end 124, or a joint 140. As the actuator 110 extends, the first section brace can be displaced in the extending direction by a first length relative to the mounting structure 130, the proximal end 124, or the joint 140, as the actuator 110 extends by a second length. In some embodiments, this displacement of the first section brace can be carried out via friction between the first section brace and the winding support member 170. In embodiments, once the actuator 110 extends beyond the second length, the first cable can fix the first section brace in a fixed position relative to the mounting structure 130, the proximal end 124, or the joint 140 via tension in the first cable. Conversely, once the actuator 110 is retracted to less than the second length, the first cross-sectional brace can be displaced in the retraction direction by friction between the first cross-sectional brace and the winding support member 170.

[0033] In some embodiments, a second cable (e.g., cable 174), which may extend similarly to the first cable, is coupled to the second section brace of section brace 172, and further coupled to the first section brace of section brace 172. As actuator 110 extends, the second section brace can be displaced in the extending direction by a third length relative to the mounting structure 130, proximal end 124, or joint 140, as actuator 110 extends by a fourth length. In some embodiments, this displacement of the second section brace can be carried out via friction between the second section brace and the winding support member 170. In embodiments, once actuator 110 extends beyond the fourth length, the second cable can be fixed to the mounting structure 130, proximal end 124, joint 140, or first section brace in a fixed position (corresponding to, or based on, distance 173 in Figure 4A) via tension in the second cable. Conversely, once the actuator 110 is retracted to less than the fourth length, the second section brace can be displaced in the retraction direction by friction between the second section brace and the winding support member 170. In some embodiments, as described above, the section brace 172 can be retracted, either entirely or partially, into the proximal end 124 when the section brace 172 is pulled closer and when the actuator 110 is retracted to the retracted position.

[0034] An exemplary actuator 110 may include an electrical conduit 176 configured to electrically couple an end effector 150 to a control network 160. For example, the conduit 176 can supply power to and from the end effector 150 (e.g., sensors on the end effector 150) and the control network 160, and transmit electrical signals (e.g., control and / or data signals). In some embodiments, the conduit 176 may comprise electrical wires or wiring arranged in a helix. The first end of the helix may be coupled to the proximal end 124 of the actuator 110, and the second end of the helix may be coupled to the distal end 125 of the actuator 110, such that the helix expands and compresses along the axis 112 as the actuator 110 extends and retracts. This is advantageous, for example, in that it may allow the conduit 176 to maintain a manageable shape as the actuator 110 extends and retracts, in order to avoid pinching or structural damage to the conduit 176.

[0035] Figures 5A–5C show an exemplary actuator 110, which may correspond to any or all of the actuators 110A, 110B, or 110C described above with respect to the exemplary robotic system 100. Figures 5A and 5B show an exemplary proximal end 124 of the actuator 110. Figure 5C shows an exemplary winding support member 170, which may be located within the proximal end 124 of the actuator 110, having cross-sectional outlines 195 and 196 as described below. In some embodiments, such as those shown in Figures 5A and 5B, the proximal end 124 may include a frame 180 that encloses one or more components as described below. In some embodiments, the proximal end 124 includes one or more rotatable members 182. The rotatable members 182 may include a spindle, drum, disk, gear, sprocket, column, spool, or another preferred member configured to rotate about a separate axis 183. In some embodiments, the rotatable member 182 is substantially cylindrical.

[0036] In some embodiments, the rotatable member 182 may include a spring-loaded member, such as a spring-loaded spindle. In such embodiments, the restoring force of the spring-loaded member can apply torque to the rotatable member 182, causing the member to rotate.

[0037] In some embodiments, the rotatable member 182 may include an actuating member, such as an actuating spindle. The actuating member can be driven by a motor, such as a motor 184, which applies torque to the rotatable member 182 and thus rotates the rotatable member 182. In some embodiments, the rotatable member 182 may be driven directly by the motor 184. In some embodiments, the rotatable member 182 may be driven by the motor 184 via one or more gearboxes or transmissions 186, such as those shown in the figures. In embodiments, one or more rotatable members 182 can be rotated by the application of control signals by a control circuit network 160. For example, as will be further described below, the control circuit network 160 can apply control signals to the motor 184, activate the motor 184, and rotate the rotatable member 182 accordingly. In some cases, a single motor 184 may be used to drive multiple rotatable members 182, which in turn can wind or unwind multiple winding support members 170. Various drive configurations of the motor 184, the transmission device 186, and the rotatable member 182 are obvious to those skilled in the art and are within the scope of this disclosure.

[0038] For example, a winding support member 170, such as the one shown in Figures 5A-5C, may be configured to wind and unwind around the rotatable member 182. For example, the end of the winding support member 170 may be anchored to the rotatable member 182 or to another component or anchor point of the proximal end 124. For example, as shown in Figure 5A-5C, the actuator 110 may include two winding support members 170, which may be connected (e.g., via end plates) or separate from each other. The winding support member 170 may include a first length (which may be the entire length of the winding support member 170 or a portion of its entire length) that extends along the actuator 110 to the proximal end 124, including or adjacent to the anchoring end of the winding support member 170. The first length may be configured to wind and unwind around the rotatable member 182. For example, a first length can pass from the actuator 110 through an opening 190 (e.g., a slot) at the proximal end 124, from which it may be fed (e.g., via an S-shaped spool) to the surface 194 of the rotatable member 182. In some embodiments, one or more rollers 188 are configured to apply power transmission between the motor 184 and the winding support member 170, enabling or assisting the winding support member 170 to wind and unwind around the rotatable member 182. The rollers 188 may be configured to maintain contact pressure between the rotatable member 182 and the winding support member 170.

[0039] In this embodiment, as the rotatable member 182 is rotated in a first direction (e.g., clockwise) by applying a first torque to the rotatable member, the first length of the winding support member 170 winds around the rotatable member 182, thereby applying a pulling force to the end effector 150, which is coupled to the distal end 125 of the actuator 110, via the winding support member 170. The actuator 110 is therefore retracted by the pulling force as the first length of the winding support member 170 winds around the rotatable member 182. Conversely, as the rotatable member 182 is rotated in a second direction (e.g., counterclockwise) by applying a second torque to the rotatable member, the first length of the winding support member 170 unwinds around the rotatable member 182, thereby applying a pushing force to the end effector 150, via the winding support member 170. The actuator 110 is therefore extended by the pressing force as the first length of the winding support member 170 is unwound from the rotatable member 182.

[0040] In some embodiments, the surface 194 of the rotatable member 182 has a coefficient of friction such that rotating the rotatable member 182 applies a frictional force to the winding support member 170 over a first length, thereby causing the winding support member 170 to wind around the surface 194. The friction between the surface 194 of the rotatable member 182 and the winding support member 170 and / or the friction between the winding support member 170 and itself can fix the first length in the winding position and provide structural support. In some embodiments, the rotatable member 182 may include knobs, ridges, teeth, or other protrusions, and the winding support member 170 may include holes, divots, or other elements configured to receive protrusions, thereby enabling or assisting the winding support member 170 to wind around the rotatable member 182 and remain wound. Other mechanisms for coupling the winding support member 170 to the rotatable member 182 are also apparent to those skilled in the art and are within the scope of this disclosure.

[0041] In the embodiment, it may be advantageous that the winding support member 170 is elastically deformable into two or more cross-sectional shapes. As used herein, the cross-sectional shape of the winding support member 170 may refer to a two-dimensional cross-sectional shape of a portion of the winding support member 170, such as when viewed along the axis 112 of the actuator 110.

[0042] For example, in Figures 5A-5C, portion 195 of the winding support member 170 corresponds to a first cross-sectional shape with a curved outer shape (e.g., at least C-shaped). In the embodiment, portion 195 includes a portion of the winding support member 170 that extends longitudinally along the axis 112 of the actuator 110. Deforming portion 195 to a curved cross-sectional shape may be advantageous because the curved shape can impart additional structural strength to the winding support structure 170 when it supports the actuator 110 and the end effector 150. It should be understood that various cross-sectional shapes of portion 195, including tubular and elliptical (including circular) shapes, may be advantageously used to improve the structural strength of the winding support member 170 and, therefore, the actuator 110.

[0043] As shown in Figures 5A-5C, portion 196 of the winding support member 170 corresponds to a second cross-sectional shape having a substantially flat outer shape. In the embodiment, portion 196 includes a portion of the winding support member 170 that is wound around the rotatable member 182. Deforming portion 196 to a flat cross-sectional shape may be advantageous because a flat shape can facilitate the winding of the winding support member 170 around the rotatable member 182 and improve winding stability, compared to a curved shape, for example, as described with respect to portion 195.

[0044] In embodiments such as those shown in Figures 5A and 5B, the winding support member 170 may include both a first (e.g., curved) outer shape portion 195 and a second (e.g., flat) outer shape portion 196. In some embodiments, the actuator 110 and / or proximal end 124 may include a rigid molding member 192 configured to deform a portion of the winding support member 170 as it extends and retracts. For example, as the winding support member 170 retracts and winds a first length of the winding support member 170 around the rotatable member 182, the winding support member 170 may pass over the molding member 192 in a first direction such that a portion of the winding support member 170 contacts the molding member 192 and is deformed from a first (e.g., curved) outer shape to a second (e.g., flat) outer shape by contact. Conversely, as the winding support member 170 extends and unwinds a first length of the winding support member 170 from the rotatable member 182, the winding support member 170 may pass across the molding member 192 in a second direction such that a portion of the winding support member 170 contacts the molding member 192 and is deformed from a second shape to a first shape by contact. In this way, the actuator 110 can benefit from the winding support member 170 having a first shape in a region along the actuator 110, thereby improving structural strength, and having a second shape in a region at the proximal end 124, thereby improving the actuator 110's ability to retract and extend (through winding and unwinding of the winding support member 170 around the rotatable member 182). In embodiments, a rigid member may be located within the encapsulation body 180.

[0045] For clarity, the embodiments shown in Figures 5A-5C include two rotatable members 182 and two gearboxes 186, but embodiments in which the proximal end 124 includes more or fewer rotatable members 182 (and individual shafts 183) or more or fewer gearboxes 186 than those depicted in Figures 5A-5C are conceivable and within the scope of this disclosure. For example, in some embodiments the proximal end 124 includes three or more rotatable members 182, in some embodiments the proximal end 124 includes one rotatable member 182, in some embodiments the proximal end 124 includes three or more gearboxes 186, in some embodiments the proximal end 124 includes one gearbox 186, and in some embodiments the proximal end 124 includes one rotatable member 182 and one gearbox 186.

[0046] Figure 6 shows an exemplary control system 600 that may be used to control a side of the robot system 100. In some embodiments, some or all components of the control system 600 may be implemented via a single computing device or via two or more devices communicating via a communication network, etc. In some embodiments, one or more components of the control system 600 may be implemented as a system-on-a-chip (SoC) module. In some embodiments, the components of the control system 600 may be implemented in any preferred combination of electronic hardware and software. Furthermore, one or more components of the control system 600 may be implemented via common hardware or software, and therefore the components of the control system 600 described below do not necessarily correspond to discrete hardware or software units. In some embodiments, some or all components of the control system 600 may be implemented via a control circuit network 160, as described above with respect to the exemplary robot system 100. In some embodiments, some components of the control system 600 may be implemented via a control circuit network 160, which may be configured to communicate with remote computer devices implementing the components of the control system 600.

[0047] The control system 600 may include one or more processors 602 capable of communicating with memory 603, which may have random access memory (RAM). The processors 602 may include one or more dedicated artificial intelligence or machine learning processors such as a central processing unit (CPU), graphics processing unit (GPU), field-programmable gate array (FPGA), microprocessor, tensor processing unit (TPU), or other suitable processors.

[0048] In some embodiments, the processor 602 and / or memory 603 may belong to a processing unit 610. The processing unit 610 can communicate (for example, via a communication channel 601, which may have a wired or wireless connection) with a read-only memory (ROM) 604 or another suitable computer-readable storage medium (e.g., storage medium 605) which may be a non-transient computer-readable storage medium that stores computer-readable instructions for execution by one or more processors 602. The ROM 604 and / or storage medium 605 may include one or more of the following: a hard drive, a flash drive, an optical disc (such as a CD, DVD, or Blu-ray®), an electrically erasable programmable read-only memory (EEPROM), or any other suitable medium.

[0049] When executed by one or more processors, machine-readable instructions can cause one or more processors to implement computer implementation methods such as any of the methods described herein. Any or all of the processors 602, memory 603, ROM 604, and storage media 605 can communicate (for example, via a communication channel 601) with one or more of the following: one or more robot systems 100, such as those described herein; a display device 606, such as a monitor, touchscreen, or any device suitable for displaying output relating to the robot system 100; a user input device 607, such as a keyboard, mouse, joystick, touch panel, touchscreen, or any device suitable for controlling or providing input to the robot system 100; a network device 608, which may include an Ethernet® or Wi-Fi network interface that can be used to communicate with the robot system 100; and one or more sensors 609, which may include sensors of the end effector 150 as described above (e.g., a camera, microphone, or scanning device).

[0050] In some embodiments, the communication channel 601 may comprise the conduit 176 described above. In some embodiments, the communication channel 601 may transmit and receive control and / or data signals to and from one or more components of the robot system 100 described above. The control and / or data signals may include signals for controlling one or more of the following: the rotatable member 182 (e.g., via the motor 184), the mounting structure 130 (e.g., via a motor configured to rotate the mounting structure 130 about an axis), the platform 102, the joints 140A / 140B, the cable 174, the end effector 150, or any other suitable components or combinations of components of the robot system 100.

[0051] In some embodiments, the control circuit may be configured to receive a desired position and / or orientation of the end effector 150 and apply a control signal determined based on that desired position and / or orientation. That is, the control circuit may be configured to apply a control signal to (e.g., the rotatable member 182) that would result in the end effector 150 being moved to the desired position and / or orientation. In some embodiments, a suitable machine learning algorithm may be used to determine the desired position and / or orientation or control signal. For example, the algorithm may provide as an output one or more desired positions or orientations or control signals corresponding to a desired action or path for the end effector 150. In some embodiments, the desired position and / or orientation of the end effector 150, or one or more control signals as described above, can be received from a human operator, for example, via a user input device 607 or via a network device 608. Also in some embodiments, the desired position and / or orientation of the end effector 150, or one or more control signals as described above, can be determined based on the output of sensor 609.

[0052] According to one or more embodiments of the present disclosure, the system comprises an end effector, a base, a first actuator, a second actuator, and a control circuit. The first actuator comprises a proximal end coupled to the base at a first joint, a distal end coupled to the end effector, a rotatable member, and a winding support member coupled to the distal end. The winding support member has a first length. At least a portion of the first length is configured to wind around the rotatable member and to unwind from the rotatable member. The second actuator has a proximal end coupled to the base at a second joint, the second joint comprising a proximal end separated from the first joint at a distance and a distal end coupled to the end effector. The control circuit is configured to extend and retract the first actuator along the axis of the first actuator, and further configured to extend and retract the second actuator along the axis of the second actuator. Retracting the first actuator involves winding it around the rotatable member for a first length, and extending the first actuator involves unwinding it from the rotatable member for a first length.

[0053] According to some embodiments, the winding support member comprises spring steel. According to some embodiments, the base further comprises a third joint, and the device further comprises a third actuator having a proximal end coupled to the base at the third joint and a distal end coupled to an end effector, and the control circuit is further configured to extend and retract the third actuator along the axis of the third actuator. According to some embodiments, winding a first length around a rotatable member comprises applying a first torque to the rotatable member by the control circuit, and unwinding a first length from the rotatable member comprises applying a second torque to the rotatable member by the control circuit. According to some embodiments, the first actuator further comprises one or more cross-sectional braces and a cable coupled to one or more cross-sectional braces, the cable is configured to displace one or more cross-sectional braces relative to the base in accordance with extending the first actuator and further in accordance with retracting the first actuator. According to some embodiments, the first actuator is configured to house one or more cross-sectional braces at the proximal end of the first actuator as the first actuator is retracted to a retracted position. According to some embodiments, the first actuator further comprises a first cross-sectional brace and a first cable coupled to the first cross-sectional brace and further coupled to a base, the system being configured to displace the first cross-sectional brace by a first length relative to the base as the first actuator is extended by a corresponding second length via friction with a winding support member, the first cable being configured to fix the first cross-sectional brace at a first distance relative to the base as the first actuator is extended by a length greater than the second length via tension in the first cable.According to some embodiments, the first actuator further comprises a second cross-sectional brace and a second cable coupled to the first cross-sectional brace and further coupled to the second cross-sectional brace, wherein the system is configured to displace the second cross-sectional brace by a third length relative to the base as the first actuator is extended by a corresponding fourth length via friction with a winding support member, and the second cable is configured to fix the second cross-sectional brace at a second distance relative to the base as the first actuator is extended by a length greater than the fourth length via tension in the second cable. According to some embodiments, the winding support member is deformable into a first cross-sectional shape and further deformable into a second cross-sectional shape. According to some embodiments, the first cross-sectional shape has a curved shape, and the second cross-sectional shape has a substantially flat shape. According to some embodiments, the first cross-sectional shape has a substantially elliptical shape. According to some embodiments, a first cross-sectional shape corresponds to a first portion of the winding support member, the first portion not wound around the rotatable member, and a second cross-sectional shape corresponds to a second portion of the winding support member, the second portion configured to wind around the rotatable member. According to some embodiments, the proximal end comprises a molding member configured to deform a portion of the winding support member to the first cross-sectional shape as the winding support member is extended, and to deform a portion of the winding support member to the second cross-sectional shape as the winding support member is retracted. According to some embodiments, the rotatable member comprises a spindle. According to some embodiments, the spindle comprises a spring-loaded spindle. According to some embodiments, the spindle comprises an actuating spindle. According to some embodiments, the rotatable member comprises a surface configured to apply a frictional force to a first length of the winding support member. According to some embodiments, the rotatable member comprises one or more projections, and the first length of the winding support member is configured to receive one or more projections. According to some embodiments, the system further comprises a motor and one or more rollers configured to provide power transmission between the motor and the winding support member. According to some embodiments, the first joint comprises an active joint.According to some embodiments, the first joint comprises a passive joint. According to some embodiments, the first joint comprises a one-degree-of-freedom joint. According to some embodiments, the first joint comprises a two-degree-of-freedom joint. According to some embodiments, the base is rotatable about an axis, and the control circuit is further configured to rotate the base about the axis. According to some embodiments, the base is coupled to a movable platform, and the control circuit is further configured to move the movable platform. According to some embodiments, the end effector comprises a sensor. According to some embodiments, the end effector comprises a gripper. According to some embodiments, the end effector comprises a tool. According to some embodiments, the first actuator further comprises a retractable cover configured to extend in accordance with extending the first actuator, and further configured to retract in accordance with retracting the first actuator. According to some embodiments, the system further comprises an electrical conduit configured to communicate electrical signals between the control circuit and the end effector. According to some embodiments, the electrical conduit comprises a helix configured to expand along the axis of the first actuator as the first actuator is extended, and further configured to compress along the axis of the first actuator as the first actuator is retracted. According to some embodiments, the control circuit is further configured to receive a target position of the end effector, and extending and retracting the first actuator includes applying one or more control signals to the rotatable member based on the target position. According to some embodiments, the target position is received via the output of a machine learning algorithm.

[0054] According to one or more embodiments of the present disclosure, the method is to extend a first actuator of a robot system, the first actuator comprising a proximal end coupled to a base at a first joint, a distal end coupled to an end effector, a rotatable member, and a winding support member coupled to the distal end, the winding support member having a first length, at least a portion of which is configured to wind around the rotatable member and further configured to unwind from the rotatable member, and to retract the first actuator. The present invention includes extending a second actuator of a robot system, the second actuator having a proximal end coupled to a base at a second joint, the second joint having a proximal end separated from the first joint at a distance, and a distal end coupled to an end effector, and retracting the second actuator, the retraction of the first actuator including winding it a first length around a rotatable member, and the extension of the first actuator including unwinding it a first length from the rotatable member.

[0055] According to some embodiments, the winding support member comprises spring steel. According to some embodiments, the base further comprises a third joint, and the method further comprises extending the third actuator along the axis of the third actuator and retracting the third actuator along the axis of the third actuator, the third actuator comprising a proximal end coupled to the base at the third joint and a distal end coupled to an end effector. According to some embodiments, winding a first length around a rotatable member comprises applying a first torque to the rotatable member, and unwinding a first length from the rotatable member comprises applying a second torque to the rotatable member. According to some embodiments, the first actuator further comprises one or more cross braces and a cable coupled to one or more cross braces, and the method further comprises displacing one or more cross braces relative to the base via the cable in accordance with extending the first actuator and further in accordance with retracting the first actuator. According to some embodiments, the method further includes retracting the first actuator to a retracted position, thereby retracting one or more section braces at the proximal end of the first actuator. According to some embodiments, the first actuator further includes a first section brace and a first cable coupled to the first section brace and further coupled to a base, and the method further includes displacing the first section brace by a first length relative to the base by extending the first actuator by a corresponding second length via friction with a winding support member, and fixing the first section brace at a first distance relative to the base by extending the first actuator by a length greater than the second length via tension of the first cable.According to some embodiments, the first actuator further comprises a second cross-sectional brace and a second cable coupled to the first cross-sectional brace and further coupled to the second cross-sectional brace, and the method further includes displacing the second cross-sectional brace by a third length relative to the base by extending the first actuator by a corresponding fourth length via friction with a winding support member, and fixing the second cross-sectional brace at a second distance relative to the base by extending the first actuator by a length greater than the fourth length via tension of the second cable. According to some embodiments, the winding support member is deformable into a first cross-sectional shape and further deformable into a second cross-sectional shape. According to some embodiments, the first cross-sectional shape has a curved shape, and the second cross-sectional shape has a substantially flat shape. According to some embodiments, the first cross-sectional shape has a substantially elliptical shape. According to some embodiments, a first cross-sectional shape corresponds to a first portion of the winding support member, the first portion not wound around the rotatable member, and a second cross-sectional shape corresponds to a second portion of the winding support member, the second portion configured to wind around the rotatable member. According to some embodiments, the proximal end comprises a molded member, and the method further includes deforming a portion of the winding support member to a first cross-sectional shape by extending the winding support member via the molded member, and deforming a portion of the winding support member to a second cross-sectional shape by retracting the winding support member via the molded member. According to some embodiments, the rotatable member comprises a spindle. According to some embodiments, the spindle comprises a spring-loaded spindle. According to some embodiments, the spindle comprises an actuating spindle. According to some embodiments, the rotatable member comprises a surface, and the method further includes applying a frictional force to a first length of the winding support member by means of the surface. According to some embodiments, the rotatable member comprises one or more protrusions, and the first length of the winding support member is configured to receive one or more protrusions. According to some embodiments, the method further includes providing power transmission between the motor and the winding support member via one or more rollers.According to some embodiments, the first joint comprises an active joint. According to some embodiments, the first joint comprises a passive joint. According to some embodiments, the first joint comprises a one-degree-of-freedom joint. According to some embodiments, the first joint comprises a two-degree-of-freedom joint. According to some embodiments, the method further includes rotating the base around an axis. According to some embodiments, the base is coupled to a movable platform, and the method further includes moving the movable platform. According to some embodiments, the end effector comprises a sensor. According to some embodiments, the end effector comprises a gripper. According to some embodiments, the end effector comprises a tool. According to some embodiments, the first actuator further comprises a retractable cover configured to extend in accordance with extending the first actuator, and further configured to retract in accordance with retracting the first actuator. According to some embodiments, the method further includes communicating electrical signals between the control circuit and the end effector via an electrical conduit. According to some embodiments, the electrical conduit comprises a helix configured to expand along the axis of the first actuator as the first actuator is extended, and further configured to compress along the axis of the first actuator as the first actuator is retracted. According to some embodiments, the method further includes receiving a target position of an end effector, and extending the first actuator includes applying one or more control signals to a rotatable member based on the target position. According to some embodiments, the target position is received via the output of a machine learning algorithm.

[0056] According to one or more embodiments of the present disclosure, a non-transient computer-readable storage medium stores instructions, and when an instruction is executed by one or more processors, it causes one or more processors to perform one of the methods described above.

[0057] The present invention is fully described in relation to its embodiments with reference to the accompanying drawings, but it should be noted that various changes and modifications will be obvious to those skilled in the art. Such changes and modifications are to be understood as falling within the scope of the claimed subject matter. Various embodiments of the present invention should be understood as being presented solely as embodiments and not as limitations. Although the present invention is described above in terms of various embodiments and implementations, it should be understood that various features and functionalities described in one or more of the individual embodiments are not limited in their applicability to the particular embodiment in which they are described. They can instead be applied, either alone or in some combination, to one or more other embodiments of the present invention, regardless of whether such embodiments are described or presented as being part of the embodiment in which such features are described. Accordingly, the scope and scope of the claimed subject matter should not be limited by any of the embodiments described above.

[0058] The terms and phrases used in this book, and their variations, should be interpreted as non-restrictive, as opposed to restrictive, unless otherwise explicitly stated. As such, the term "including" should be read as meaning "not restrictive, but including" or its equivalent; the term "examples" should be used to provide illustrative examples of the items discussed, rather than an exhaustive or restrictive list; and adjectives such as "conventional," "traditional," "ordinary," "standard," "publicly known," and similar terms should not be interpreted as limiting the items described to those available in a given time period or at a given point in time. These terms should instead be read as encompassing conventional, traditional, ordinary, or standard techniques that are available and may be publicly known, now or at any point in the future. Similarly, groups of items linked with the conjunction "and" should not be read as requiring that every single one of those items exist in the grouping, but rather as "and / or" unless otherwise explicitly stated. Similarly, groups of items linked by the conjunction "or" should not be interpreted as requiring mutual exclusivity within that group, but rather as "and / or" unless explicitly stated otherwise. Furthermore, items, elements, or components of the present invention may be described or claimed in the singular, but the plural is assumed to be within that scope unless an limitation to the singular is explicitly stated. For example, "at least one" may refer to or be singular or plural. The presence of expanding words and phrases such as "one or more," "at least," "but not limited to," or other similar phrases in some cases should not be interpreted as meaning that a more limited case is intended or required in cases where such expanding phrases may be absent. The word "exemplary" is used herein to mean "serving as an example or illustration." Any aspect or design described herein as "exemplary" is not necessarily construed as preferable or advantageous to other aspects or designs.

[0059] For the purpose of clarification, it should be understood that the above description illustrates embodiments of the invention with reference to different functional units and modules. However, it should be understood that any preferred distribution of functionality between different functional units, processing logic elements, or domains may be used without impairing the invention. For example, functionality illustrated to be performed by a separate processing logic element or controller may be performed by the same processing logic element or controller. Thus, references to specific functional units should be considered not as indicating a strict logical or physical structure or organization, but only as a reference to a preferred means for providing the functionality described. It should be understood that the specific order or hierarchy of steps in the processes disclosed herein is an example of an exemplary approach. It should be understood that, based on design preferences, the specific order or hierarchy of steps in the processes may be rearranged while remaining within the scope of the claimed subject matter. Furthermore, in some embodiments, some steps in the processes disclosed herein may be omitted entirely while remaining within the scope of the claimed subject matter.

Claims

1. It is a system, End effectors and, The base and, A first actuator, wherein the first actuator is In the first joint, the proximal end is connected to the base, The distal end connected to the end effector, Rotatable member and A winding support member connected to the distal end, wherein the winding support member has a first length, and at least a portion of the first length is configured to wind around the rotatable member, and is configured to unwind from the rotatable member, and A first actuator comprising, A second actuator, wherein the second actuator has a proximal end connected to the base at a second joint, and the second joint has a proximal end separated from the first joint at a certain distance and a distal end connected to the end effector, A control circuit configured to extend and retract the first actuator along the axis of the first actuator, and further configured to extend and retract the second actuator along the axis of the second actuator, Equipped with, Retracting the first actuator includes winding the first length around the rotatable member, Extending the first actuator includes unwinding the first length from the rotatable member, in a system.

2. The system according to claim 1, wherein the winding support member comprises spring steel.

3. The base further comprises a third joint, The apparatus further comprises a third actuator having a proximal end connected to the base at the third joint and a distal end connected to the end effector. The system according to claim 1, wherein the control circuit is further configured to extend and retract the third actuator along the axis of the third actuator.

4. Winding the first length around the rotatable member includes the control circuit applying a first torque to the rotatable member. The system according to claim 1, wherein unwinding the first length from the rotatable member includes the control circuit applying a second torque to the rotatable member.

5. The first actuator further, One or more section braces, A cable connected to one or more cross-sectional braces Equipped with, The system according to claim 1, wherein the cable is configured to displace one or more cross-sectional braces relative to the base as the first actuator extends and as the first actuator retracts.

6. The system according to claim 5, wherein the first actuator is configured to house one or more cross-sectional braces at the proximal end of the first actuator as the first actuator is retracted to a retracted position.

7. The first actuator further, The first section brace, A first cable is connected to the first cross-sectional brace and further connected to the base. Equipped with, The system is configured to displace the first cross-sectional brace relative to the base by a first length as the first actuator is extended by a corresponding second length via friction with the winding support member, The system according to claim 1, wherein the first cable is configured to fix the first cross-sectional brace to the base at a first distance, such that the first actuator extends by a length exceeding the second length via the tension of the first cable.

8. The first actuator further, The second section brace, A second cable is connected to the first cross-sectional brace and further connected to the second cross-sectional brace. Equipped with, The system is configured to displace the second cross-sectional brace by a third length relative to the base, as the first actuator is extended by a corresponding fourth length via friction with the winding support member. The system according to claim 7, wherein the second cable is configured to fix the second cross-sectional brace to the base at a second distance, such that the first actuator extends by a length exceeding the fourth length via the tension of the second cable.

9. The system according to claim 1, wherein the winding support member is deformable to a first cross-sectional outer shape and further deformable to a second cross-sectional outer shape.

10. The first cross-sectional shape has a curved shape, The system according to claim 9, wherein the second cross-sectional shape has a substantially flat shape.

11. The system according to claim 9, wherein the first cross-sectional shape has a substantially elliptical shape.

12. The first cross-sectional shape corresponds to the first portion of the winding support member, and the first portion is not wound around the rotatable member. The system according to claim 10, wherein the second cross-sectional shape corresponds to a second portion of the winding support member, and the second portion is configured to wind around the rotatable member.

13. The aforementioned proximal end is, As the winding support member is extended, a portion of the winding support member is deformed to the first cross-sectional outer shape, As the winding support member is retracted, a portion of the winding support member is deformed into the second cross-sectional outer shape. The system according to claim 10, comprising a molding member configured to perform the following.

14. The system according to claim 1, wherein the rotatable member comprises a spindle.

15. The system according to claim 14, wherein the spindle comprises a spring-loaded spindle.

16. The system according to claim 14, wherein the spindle comprises an operating spindle.

17. The system according to claim 1, wherein the rotatable member has a surface configured to apply a frictional force to the first length of the winding support member.

18. The system according to claim 1, wherein the rotatable member has one or more protrusions, and the first length of the winding support member is configured to receive the one or more protrusions.

19. The aforementioned system further, Motor and, One or more rollers configured to provide power transmission between the motor and the winding support member The system according to claim 1, comprising:

20. The system according to claim 1, wherein the first joint comprises an active joint.

21. The system according to claim 1, wherein the first joint comprises a passive joint.

22. The system according to claim 1, wherein the first joint comprises a one-degree-of-freedom joint.

23. The system according to claim 1, wherein the first joint comprises a two-degree-of-freedom joint.

24. The system according to claim 1, wherein the base is rotatable around an axis, and the control circuit is further configured to rotate the base around the axis.

25. The system according to claim 1, wherein the base is coupled to a movable platform, and the control circuit is further configured to move the movable platform.

26. The system according to claim 1, wherein the end effector comprises a sensor.

27. The system according to claim 1, wherein the end effector comprises a gripper.

28. The system according to claim 1, wherein the end effector comprises a tool.

29. The system according to claim 1, wherein the first actuator further comprises an extendable cover, the extendable cover being configured to extend in accordance with the extension of the first actuator and to retract in accordance with the retraction of the first actuator.

30. The system according to claim 1, further comprising an electrical conduit configured to communicate electrical signals between the control circuit and the end effector.

31. The system according to claim 30, wherein the electrical conduit comprises a helix, the helix being configured to expand along the axis of the first actuator as the first actuator is extended, and to compress along the axis of the first actuator as the first actuator is retracted.

32. The control circuit is further configured to receive the target position of the end effector. The system according to claim 1, wherein extending and retracting the first actuator includes applying one or more control signals to the rotatable member based on the target position.

33. The system according to claim 32, wherein the target position is received via the output of a machine learning algorithm.

34. It is a method, Extending the first actuator of the robot system, wherein the first actuator is The proximal end is connected to the base in the first joint, The distal end is coupled to the end effector, Rotatable member and A winding support member connected to the distal end, wherein the winding support member has a first length, and at least a portion of the first length is configured to wind around the rotatable member, and is configured to unwind from the rotatable member, and To be equipped with, Retracting the first actuator, Extending the second actuator of the robot system, wherein the second actuator is A proximal end connected to the base in the second joint, wherein the second joint is separated from the first joint by a certain distance, The distal end is coupled to the end effector. To be equipped with, Retracting the second actuator and Includes, Retracting the first actuator includes winding the first length around the rotatable member, A method for extending the first actuator, comprising unwinding the first length from the rotatable member.

35. The method according to claim 34, wherein the winding support member comprises spring steel.

36. The base further comprises a third joint, The method further includes extending the third actuator along the axis of the third actuator and retracting the third actuator along the axis of the third actuator, The method according to claim 34, wherein the third actuator comprises a proximal end connected to the base at the third joint and a distal end connected to the end effector.

37. Winding the first length around the rotatable member includes applying a first torque to the rotatable member, The method according to claim 34, wherein unwinding the first length from the rotatable member includes applying a second torque to the rotatable member.

38. The first actuator further, One or more section braces, A cable connected to one or more cross-sectional braces Equipped with, The method according to claim 34, further comprising displacing the one or more cross-sectional braces relative to the base as the first actuator is extended via the cable, and further as the first actuator is retracted.

39. The method according to claim 38, further comprising retracting the first actuator to a retracted position, thereby retracting one or more cross-sectional braces at the proximal end of the first actuator.

40. The first actuator further, The first section brace, A first cable is connected to the first cross-sectional brace and further connected to the base. Equipped with, The above method further, As the first actuator is extended by a corresponding second length via friction with the winding support member, the first cross-sectional brace is displaced by a first length relative to the base, The first cross-sectional brace is fixed to the base at a first distance by extending the first actuator by a length exceeding the second length via the tension of the first cable. The method according to claim 34, including the method described in claim 34.

41. The first actuator further, The second section brace, A second cable is connected to the first cross-sectional brace and further connected to the second cross-sectional brace. Equipped with, The above method further, As the first actuator is extended by a corresponding fourth length via friction with the winding support member, the second cross-sectional brace is displaced by a third length relative to the base, The second cross-sectional brace is fixed to the base at a second distance by extending the first actuator by a length exceeding the fourth length via the tension of the second cable. The method according to claim 40, including the method described in claim 40.

42. The method according to claim 34, wherein the winding support member is deformable to a first cross-sectional outer shape and further deformable to a second cross-sectional outer shape.

43. The first cross-sectional shape has a curved shape, The method according to claim 42, wherein the second cross-sectional shape has a substantially flat shape.

44. The method according to claim 42, wherein the first cross-sectional shape has a substantially elliptical shape.

45. The first cross-sectional shape corresponds to the first portion of the winding support member, and the first portion is not wound around the rotatable member. The method according to claim 43, wherein the second cross-sectional shape corresponds to a second portion of the winding support member, and the second portion is configured to wind around the rotatable member.

46. The aforementioned proximal end is equipped with a molded member, The above method further, As the winding support member is extended via the molding member, a portion of the winding support member is deformed to the first cross-sectional outer shape, By moving the winding support member backward via the molding member, a portion of the winding support member is deformed into the second cross-sectional outer shape. The method according to claim 43, including the method described in claim 43.

47. The method according to claim 34, wherein the rotatable member comprises a spindle.

48. The method according to claim 47, wherein the spindle comprises a spring-loaded spindle.

49. The method according to claim 47, wherein the spindle comprises an operating spindle.

50. The method according to claim 34, wherein the rotatable member has a surface, and the method further includes the surface applying a frictional force to the first length of the winding support member.

51. The method according to claim 34, wherein the rotatable member has one or more protrusions, and the first length of the winding support member is configured to receive the one or more protrusions.

52. The method according to claim 34, further comprising providing power transmission between the motor and the winding support member via one or more rollers.

53. The method according to claim 34, wherein the first joint comprises an active joint.

54. The method according to claim 34, wherein the first joint comprises a passive joint.

55. The method according to claim 34, wherein the first joint comprises a one-degree-of-freedom joint.

56. The method according to claim 34, wherein the first joint comprises a two-degree-of-freedom joint.

57. The method according to claim 34, further comprising rotating the base around the axis.

58. The method according to claim 34, wherein the base is coupled to a movable platform, and the method further includes moving the movable platform.

59. The method according to claim 34, wherein the end effector is equipped with a sensor.

60. The method according to claim 34, wherein the end effector comprises a gripper.

61. The method according to claim 34, wherein the end effector comprises a tool.

62. The method according to claim 34, wherein the first actuator further comprises an extendable cover, the extendable cover being configured to extend in accordance with the extension of the first actuator and to retract in accordance with the retraction of the first actuator.

63. The method according to claim 34, further comprising communicating electrical signals between the control circuit and the end effector via an electrical conduit.

64. The method according to claim 63, wherein the electrical conduit comprises a helix, the helix being configured to expand along the axis of the first actuator as the first actuator is extended, and to compress along the axis of the first actuator as the first actuator is retracted.

65. The method according to claim 34, further comprising receiving the target position of the end effector, and extending the first actuator comprising applying one or more control signals to the rotatable member based on the target position.

66. The method according to claim 65, wherein the target position is received via the output of a machine learning algorithm.

67. A non-transient computer-readable storage medium storing instructions, wherein, when an instruction is executed by one or more processors, the one or more processors cause the one or more processors to perform the method according to any one of claims 34 to 66.

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