Robot with a manipulator arm
View Patent ↗A robot that includes an arm coupled to a platform. The arm includes an actuator that moves a second arm linkage relative to a first arm linkage. In a first mode of operation the actuator moves the second linkage in a first degree of freedom. In a second mode of operation the actuator moves the second linkage in a second degree of freedom. The use of a single actuator to provide two degrees of freedom reduces the number parts and associated cost of the arm. The arm further includes a grasper that can grab an object such as a wheelchair. The robot can be used to push the wheelchair. Commands to operate the robot can be generated at a remote input station and transmitted through a broadband network.
1. A robot, comprising:
a mobile holonomic platform;
a camera coupled to said mobile holonomic platform;
an arm that has a first linkage and a second linkage that are coupled to said mobile holonomic platform, said arm having a single actuator that moves said second linkage relative to said first linkage in a first degree of freedom in a first mode, and in a second degree of freedom in a second mode; and,
a first grasper coupled to said arm.
2. The robot of claim 1 , further comprising a monitor coupled to said mobile holonomic platform.
3. The robot of claim 1 , wherein further comprising a shoulder actuator coupled to said arm.
4. The robot of claim 1 , wherein said arm has an elbow actuator.
5. The robot of claim 1 , wherein said first grasper is coupled to a wrist joint of said arm.
6. The robot of claim 1 , further comprising a second grasper coupled to said arm.
7. The robot of claim 1 , wherein said first degree of freedom pivots about an elbow axis and said second degree of freedom slides relative to the elbow axis.
8. A robot system, comprising:
a broadband network;
a remote station coupled to said broadband network, said remote station having a handle that can be manipulated to generate movement signals that are transmitted through said broadband network;
a robot that is coupled to said broadband network and receives said movement signals from said handle of said remote station, said robot including;
a mobile holonomic platform;
a camera coupled to said mobile holonomic platform;
an arm coupled to said mobile holonomic platform, said arm includes a first linkage, and a second linkage coupled to said first linkage, said arm further having a single actuator that moves said second linkage relative to said first linkage in a first degree of freedom in a first mode, and in a second degree of freedom in a second mode in response to said movement signals; and,
a first grasper coupled to said arm.
9. The robot system of claim 8 , further comprising a monitor coupled to said mobile holonomic platform.
10. The robot system of claim 8 , wherein further comprising a shoulder actuator coupled to said arm.
11. The robot system of claim 8 , wherein said arm has an elbow actuator.
12. The robot system of claim 8 , wherein said first grasper is coupled to a wrist joint of said arm.
13. The robot system of claim 8 , further comprising a second grasper coupled to said arm.
14. The robot system of claim 8 , wherein said first degree of freedom pivots about an elbow axis and said second degree of freedom slides relative to the elbow axis.