Distributed-architecture robot with multiple linkages
An apparatus includes a drive; a movable arm having a base pivotally connected to the drive, first and second linkages, the first linkage having a first link rotatable on the base at a first rotary joint, a second link connected to the first link at a second rotary joint, and a third link connected to the second link at a third rotary joint, the third link having an end-effector, and the second linkage having a fourth link rotatable on the base at a fourth rotary joint, a fifth link connected to the fourth link at a fifth rotary joint, and a sixth link connected to the fifth link at a sixth rotary joint, the sixth link having another end-effector. The apparatus also includes a master controller coupled to the drive, the master controller being configured to control movements of the movable arm and the base relative to the drive.
1. An apparatus, comprising:
a drive;
a movable arm comprising,
a base pivotally connected to the drive,
a first linkage, comprising,
a first link rotatable on the base at a first rotary joint,
a second link connected to the first link at a second rotary joint, and
a third link connected to the second link at a third rotary joint, the third link comprising a first end-effector configured to carry a first payload, and
a second linkage, comprising,
a fourth link rotatable on the base at a fourth rotary joint,
a fifth link connected to the fourth link at a fifth rotary joint, and
a sixth link connected to the fifth link at a sixth rotary joint, the sixth link comprising a second end-effector configured to carry a second payload;
a master controller coupled to the drive, the master controller being configured to control a coordination of movements of the movable arm and the base relative to the drive;
wherein the first rotary joint comprises a first shoulder pulley and the fourth rotary joint comprises a second shoulder pulley, the first shoulder pulley and the second shoulder pulley being connected to the base via a substantially rigid post;
wherein the first link is rotatable about the first rotary joint by a first actuator attached to the base;
wherein the fourth link is rotatable about the fourth rotary joint by a second actuator attached to the base; wherein the first shoulder pulley, the first actuator, the second shoulder pulley, and the second actuator are coaxially arranged.
2. The apparatus of claim 1 , wherein the drive comprises a main actuator configured to cause a pivot of the base on the drive.
3. The apparatus of claim 1 , wherein the first shoulder pulley and the first actuator are coaxially arranged and offset from a coaxial arrangement of the second shoulder pulley and the second actuator.
4. The apparatus of claim 1 , wherein the fourth link and the fifth link of the second linkage are nested in the first linkage.
5. The apparatus of claim 1 , wherein a length of the first link is not equal to a length of the fourth link.
6. The apparatus of claim 1 , wherein the sixth link comprises a bridge that elevates the second end-effector above the third link.
7. The apparatus of claim 1 , further comprising a coupling configured to transmit one or more of power and communication signals between the base and the drive.