Compact Robotic Joint
In one aspect, a supported walking system is disclosed, comprising a robotic walking figure and a wheeled support that at least partially supports the robotic walking figure. The supported walking system may be driven and controlled by a human operator. Computer algorithms automatically control the robot's walking functions so that it may step forwards, backwards, and sideways in synchronicity with the movements of the cart while driving and turning at varying speeds.
1 . A compact robotic joint having two rotational degrees of freedom, comprising:
a first link;
a second link, wherein the first link is rotatably mounted to the second link and movable relative to the second link about a first axis; and
a third link rotatably mounted to the second link and movable relative to the second link about a second axis;
wherein the first link and the third link each comprises a rotary actuator.
2 . The compact robotic joint of claim 1 , wherein the rotary actuator comprises an electric motor.
3 . The compact robotic joint of claim 2 , wherein the rotary actuator further comprises a gearbox.
4 . The compact robotic joint of claim 1 , wherein the rotary actuator is a hydraulic actuator.
5 . The compact robotic joint of claim 1 , wherein the first axis is substantially perpendicular to the second axis.
6 . The compact robotic joint of claim 5 , wherein the first axis intersects or nearly intersects the second axis in the second link.
7 . The compact robotic joint of claim 1 , wherein the electric motor drives the gearbox in each of the first and third links, the gearbox providing an output with a reduction of an operating speed of the electric motor.
8 . The compact robotic joint of claim 7 , wherein each of the first and third links further comprise a mechanism turning the output of the gearbox about 90 degrees.
9 . The compact robotic joint of claim 8 , wherein the output turning mechanism comprises a right-angle bevel gear pinion.
10 . The compact robotic joint of claim 1 , wherein the second link comprises a main block upon which is mounted first and second mechanisms for receiving power transmitted by the electric motors of the first and third links, respectively, to rotate the first and third links about the first and second axes.
11 . The compact robotic joint of claim 10 , wherein the first and second mechanisms each comprise a bevel gear sector.
12 . The compact robotic joint of claim 1 , wherein each of the first and third links further comprises an elongate housing in which the electric motor and the gearbox are positioned with their outputs provided along a longitudinal axis of the housing and wherein the housing is substantially rigid relative to the longitudinal axis.
13 . A robotic joint, comprising:
a first link comprising an electric motor providing an output;
a second link, wherein the first link is mounted to the second link to allow rotation of the first link about a first axis based on the output of the first link electric motor; and
a third link comprising an electric motor providing an output, wherein the third link is mounted to the second link to allow rotation of the third link about a second axis based on the output of the third link electric motor and further wherein the first axis is transverse to the second axis.
14 . The robotic joint of claim 13 , wherein the first and second axes are proximal and are at right angles.
15 . The robotic joint of claim 13 , wherein the first and third links each further comprise a gearbox driven by the output of the electric motor, the gearbox being configured to provide an output having a speed less than a speed of the output of the electric motor.
16 . The robotic joint of claim 15 , wherein for each of the first and third links the output of the electric motor and the output of the gearbox are provided about a single axis and further wherein each of the first and third links comprises a mechanism for providing the gearbox output in a plane transverse to the single axis.
17 . The robotic joint of claim 16 , wherein the transverse plane is rotated about 90 degrees from the single axis and wherein the mechanism comprises a right-angle bevel gear pinion.
18 . A robotic joint having two rotational degrees of freedom, comprising:
a first joint assembly comprising a drive mechanism for rotating a shaft;
a second joint assembly; and
a third joint assembly comprising a drive mechanism for rotating a shaft,
wherein the first joint assembly and the third joint assembly are mounted to the second joint assembly to rotate about first and second rotation axes, respectively, when the shafts are rotated by the drive mechanisms and wherein planes containing the first and second rotation axes are substantially perpendicular.
19 . The robotic joint of claim 18 , wherein the central axis of the shaft of the first joint assembly intersects and is substantially perpendicular to the first rotation axis and the central axis of the shaft of the third joint assembly intersects and is substantially perpendicular to the second rotation axis.
20 . The robotic joint of claim 19 , wherein the second joint assembly comprises surfaces for mating with first and second right-angle gear pinions driven, respectively, by the shafts of the first and third joint assemblies, whereby outputs of the drive mechanisms is turned about 90 degrees to rotate the first and third joint assemblies about the first and second rotation axes.
21 . The robotic joint of claim 18 , wherein the drive mechanisms each comprise an electric motor driving a planetary gear assembly that provides a gear reduction to rotate the shaft at a lower speed relative to an output speed of the electric motor.
22 . The robotic joint of claim 21 wherein the first and third joint assemblies each comprise a rigid tubular housing in which the planetary gear assembly and the electric motor are positioned.
23 . The robotic joint of claim 21 , wherein the first and second rotation axes intersect or nearly intersect in the second joint assembly.