Electric fluidic rotary joint actuator with pump

1. An articulated arm for a robot, the articulated arm comprising:

a plurality of rigid link members including a first rigid link assembly and a second rigid link assembly, wherein the first rigid link assembly rotates about a proximal axis;

an actuator for moving the second rigid link assembly in relation to the first rigid link assembly about a rotary axis, the actuator including a first fluid chamber, and a second fluid chamber, the actuator having a fluid supply assembly for moving fluid into and out of each of the first fluid chamber and the second fluid chamber;

wherein the articulated arm is configured so that one or more component of the fluid supply assembly is supported in a fixed position in relation to a fluid supply end of the first fluid chamber, the one or more component including a component selected from the group consisting of a reservoir, component of a pump, and a component of a motor.

2. The articulated arm of claim 1 , wherein the one or more component includes a reservoir.

3. The articulated arm of claim 1 , wherein each of a reservoir, a component of the pump, and a component of the motor are supported in a fixed position in relation to each of the proximal axis and the rotary axis.

4. The articulated arm of claim 1 , wherein the first rigid link assembly includes a succession of rigid link members of unitary construction that combine to extend a distance between the proximal axis and the rotary axis, wherein the succession of rigid link members of unitary construction includes a first rigid link member of unitary construction and a second rigid link member of unitary construction, the first rigid link member of unitary construction supporting a load of the second rigid link assembly and being provided by rigid structural member defining a reservoir of the fluid supply assembly, the first rigid link member of unitary construction supporting a load of the second rigid link assembly and being provided by a motor housing that houses the motor.

5. The articulated arm of claim 1 , wherein the first rigid link assembly includes a first rigid link member of unitary construction that defines a spacing distance between the proximal axis and the rotary axis and extends a distance between the proximal axis and the rotary axis, wherein one or more component of the fluid supply assembly is supported in a fixed position in relation to the first rigid link member.

6. The articulated arm of claim 1 , wherein a longitudinal axis of the first rigid link assembly extends through one or more component of the fluid supply assembly, wherein the one or more component includes a component selected from the group consisting of a pump and a motor.

7. The articulated arm of claim 1 , wherein the plurality of rigid link members includes a rigid link member that extends a distance between the proximal axis and the rotary axis, and wherein the fluid supply assembly includes one or more component disposed in an interior of a housing defined by the rigid link member.

8. The articulated arm of claim 1 , wherein the fluid supply assembly includes a reservoir, a pump, and a motor, and wherein the first rigid link assembly includes a first rigid link member and a second rigid link member, each defining a spacing distance between the proximal axis and the rotary axis, each extending a distance between the proximal axis and the rotary axis, and each supporting a load of the second rigid link assembly, wherein the first rigid link member and the second rigid link member define a housing interior, and wherein each of the reservoir, the pump and the motor are located within the housing interior.

9. The articulated arm of claim 1 , wherein the fluid supply assembly includes a pump and a fluid supply line extending between the pump and the first fluid chamber, the fluid supply line defined by a rigid structural member, the fluid supply line being absent a flexible section, and the rigid structural member being supported in a fixed position in relation to the fluid supply end of the first fluid chamber.

10. The articulated arm of claim 1 , wherein the actuator includes a member that defines an open volume intersected by the rotary axis.

11. An articulated arm for a robot, the articulated arm comprising:

a plurality of rigid link members including a first rigid link assembly and a second rigid link assembly, wherein the first rigid link assembly rotates about a proximal axis;

an actuator for moving the second rigid link assembly in relation to the first rigid link assembly about a rotary axis, the actuator including a first fluid chamber, and a second fluid chamber, the actuator having a fluid supply assembly for moving fluid into and out of each of the first fluid chamber and the second fluid chamber;

wherein the articulated arm is configured so that one or more component of the fluid supply assembly is supported in a fixed position in relation to a fluid supply end of the first fluid chamber, the one or more component including a component selected from the group consisting of a reservoir, component of a pump, and a component of a motor,

wherein one or more rigid link member of unitary construction defines a spacing distance between the proximal axis and the rotary axis, and wherein the one or more rigid link member of unitary construction that defines a spacing distance between the proximal axis and the rotary axis includes a component of the fluid supply assembly.

12. The articulated arm of claim 11 , wherein the one or more rigid link member of unitary construction that defines the spacing distance between the proximal axis and a rotary axis includes a rigid structural member that defines one or more of a fluid supply line or a reservoir of the fluid supply assembly.

13. The articulated arm of claim 11 , wherein the rigid structural member that defines one or more of the fluid supply line or the reservoir of the fluid supply assembly supports a load of the second rigid link assembly.

14. An articulated arm for a robot, the articulated arm comprising:

a plurality of rigid link members including a first rigid link assembly and a second rigid link assembly, wherein the first rigid link assembly rotates about a proximal axis;

an actuator for moving the second rigid link assembly in relation to the first rigid link assembly about a rotary axis, the actuator including a first fluid chamber, and a second fluid chamber, the actuator having a fluid supply assembly for moving fluid into and out of each of the first fluid chamber and the second fluid chamber;

wherein the articulated arm is configured so that one or more component of the fluid supply assembly is supported in a fixed position in relation to a fluid supply end of the first fluid chamber, the one or more component including a component selected from the group consisting of a reservoir, component of a pump, and a component of a motor,

wherein the fluid supply assembly includes a motor and a passive check valve for use in controlling a flow of fluid from a reservoir to the first fluid chamber, wherein the articulated arm includes a closed loop control circuit that outputs a control signal to the motor based on a signal input to the control circuit indicating the current value of a parameter of the second rigid link assembly in relation to the first rigid link assembly and based on a signal input to the control circuit indicating a selected value of the parameter of the second rigid link assembly in relation to the first rigid link assembly.

15. The articulated arm of claim 14 , wherein the fluid supply assembly is configured to move fluid into and out of the first fluid chamber by operation of a pump without activation of an active valve, and wherein the first fluid chamber is a fluid chamber selected from the group consisting of a fluid chamber defined by a flexible bladder and fluid chamber having an annular volume.