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1. 发明申请

US20160221197A1 Robotic Arm and Wrist Mechanisms 有权
标题翻译：机器手臂和手腕机构
公开(公告)号：US20160221197A1
公开(公告)日：2016-08-04
申请号：US14610013
申请日：2015-01-30
申请人： iRobot Corporation
发明人： Mark R. Claffee , Timothy R. Ohm , Erik Amaral , Annan M. Mozeika
IPC分类号： B25J17/00 , B25J18/00 , F16H25/20
CPC分类号： F16H25/20 , B25J17/0266 , F16H35/18 , F16H2025/2062
摘要： A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.
摘要翻译：机器人包括支撑件，联接到支撑件的可移动构件以允许围绕俯仰轴线和偏转轴线的万向节旋转，以及连接到每个支撑件和可动构件并且可操作以使可动构件围绕俯仰轴和偏航轴。第一线性致动器在第一枢转点枢转地附接到可动构件。第二线性致动器在第二枢转点枢转地附接到可动构件。第一和第二枢转点各自与俯仰轴线和偏转轴线成角度偏移大约45度并位于俯仰轴线的同一侧。

2. 发明授权

US09545727B1 Robotic fingers and end effectors including same 有权
标题翻译：机器人手指和末端执行器包括相同
公开(公告)号：US09545727B1
公开(公告)日：2017-01-17
申请号：US14933732
申请日：2015-11-05
申请人： iRobot Corporation
发明人： Steven V. Shamlian , Mark R. Claffee , Erik Amaral , Timothy R. Ohm , Annan M. Mozeika
IPC分类号： B25J15/10 , B25J15/12
CPC分类号： B25J15/08 , B25J9/1045 , B25J13/084 , B25J15/0009
摘要： A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.
摘要翻译：机器人末端执行器包括手指和至少一个致动器。手指从手指轴线的近端延伸到远端。手指包括靠近近端的第一指骨，靠近远端的第二指骨，以及包括插入在第一和第二指骨之间并分离第一和第二指骨的至少一个椎骨的关节关节。关节关节构造成允许第二指骨相对于第一指骨围绕横向于手指轴线的枢转轴线枢转。每个椎骨具有沿指状轴线延伸的轴向厚度和垂直于其轴向厚度延伸的横向宽度，并且其横向宽度大于其轴向厚度。至少一个致动器可操作以围绕枢转轴线相对于第一指骨移动第二指骨。

3. 发明授权

US10578197B2 Robotic arm and wrist mechanisms 有权
公开(公告)号：US10578197B2
公开(公告)日：2020-03-03
申请号：US15813933
申请日：2017-11-15
申请人： iRobot Corporation
发明人： Mark R. Claffee , Timothy R. Ohm , Erik Amaral , Annan M. Mozeika
IPC分类号： B25J18/00 , F16H25/20 , B25J17/02
摘要： A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.

4. 发明授权

US09845850B2 Robotic arm and wrist mechanisms 有权
公开(公告)号：US09845850B2
公开(公告)日：2017-12-19
申请号：US14610013
申请日：2015-01-30
申请人： iRobot Corporation
发明人： Mark R. Claffee , Timothy R. Ohm , Erik Amaral , Annan M. Mozeika
IPC分类号： F16H25/20 , B25J17/02
CPC分类号： F16H25/20 , B25J17/0266 , F16H35/18 , F16H2025/2062
摘要： A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.

5. 发明申请

US20180073614A1 ROBOTIC ARM AND WRIST MECHANISMS 审中-公开
公开(公告)号：US20180073614A1
公开(公告)日：2018-03-15
申请号：US15813933
申请日：2017-11-15
申请人： iRobot Corporation
发明人： Mark R. Claffee , Timothy R. Ohm , Erik Amaral , Annan M. Mozeika
IPC分类号： F16H25/20 , B25J17/02
CPC分类号： F16H25/20 , B25J9/102 , B25J9/123 , B25J17/0266 , B25J17/0275 , F16H25/2295 , F16H2025/2062
摘要： A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.

6. 发明授权

US09744677B2 Robotic fingers and end effectors including same 有权
公开(公告)号：US09744677B2
公开(公告)日：2017-08-29
申请号：US14933443
申请日：2015-11-05
申请人： iRobot Corporation
发明人： Timothy R. Ohm , Mark R. Claffee , Erik Amaral , Steven V. Shamlian , Annan M. Mozeika
IPC分类号： B25J15/10 , B25J15/12 , B25J15/08 , B25J13/08 , B25J15/00
CPC分类号： B25J15/08 , B25J9/1045 , B25J13/084 , B25J15/0009
摘要： A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

7. 发明申请

US20170129110A1 ROBOTIC FINGERS AND END EFFECTORS INCLUDING SAME 有权
公开(公告)号：US20170129110A1
公开(公告)日：2017-05-11
申请号：US14933443
申请日：2015-11-05
申请人： iRobot Corporation
发明人： Timothy R. Ohm , Mark R. Claffee , Erik Amaral , Steven V. Shamlian , Annan M. Mozeika
IPC分类号： B25J15/08 , B25J13/08
CPC分类号： B25J15/08 , B25J9/1045 , B25J13/084 , B25J15/0009
摘要： A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.

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