Deployable robotic arm
A robotic arm system comprising a deployment system or a base, a first joint, and a manipulator coupled to the deployment system or base at the first joint and movable relative to the deployment link or base about the first joint. The manipulator includes a manipulator link, a second joint coupled to the manipulator link distal from the first joint, an elevation linkage coupled to the manipulator link at the second joint, a wrist coupled to the elevation linkage distal from the second joint, and an end effector coupled to the wrist. The end effector can change elevation via the elevation link without changing orientation.
1 . A robotic arm system, comprising:
a mechanical ground;
a first joint;
a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
a manipulator link coupled to the first joint;
a second joint coupled to the manipulator link distal from the first joint;
an elevation linkage coupled to the manipulator link at the second joint;
a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom; and
an end effector coupled to the wrist;
a deployment system connecting the manipulator to the mechanical ground, the deployment system comprising a deployment link, wherein the manipulator is rotatable relative to the deployment link at the first joint; and
a base joint,
wherein the deployment link is coupled to the mechanical ground at the base joint and is rotatable relative to the mechanical ground about the base joint, wherein the first joint comprises a manipulator yaw joint, the second joint comprises an elevation linkage yaw joint, and the base joint comprises an arm yaw joint.
2 . The robotic arm system of claim 1 , wherein the arm yaw joint is a skewed yaw joint having a skewed yaw axis of rotation.
3 . The robotic arm system of claim 2 , wherein the deployment link is an angled link having a link axis, and wherein the deployment link is rotatable about the skewed yaw axis from a first position at which the link axis is horizontal to a deployment position at which the link axis is not horizontal.
4 . The robotic arm system of claim 2 , further comprising a pitch joint to level the manipulator and a roll joint to orient the elevation linkage with respect to a gravity vector.
5 . The robotic arm system of claim 2 , wherein the wrist comprises a wrist yaw joint, a wrist roll joint, and a wrist pitch joint.
6 . The robotic arm system of claim 1 , wherein the robotic arm system comprises a yaw, roll, pitch, yaw, yaw, elevation kinematic chain.
7 . The robotic arm system of claim 1 , wherein the manipulator is self-leveling.
8 . The robotic arm system of claim 1 , wherein the elevation linkage comprises:
a four-bar linkage including an upper link arranged parallel to a lower link and a first end link arranged parallel to a second end link, wherein the first end link and the second end link are coupled between the upper link and the lower link to form a parallelogram structure;
a gravity compensating spring coupled to the parallelogram structure at a first spring attachment point and a second spring attachment point; and
a spring adjustment actuator coupled to the first spring attachment point, a position of the first spring attachment point adjustable by the spring adjustment actuator.
9 . The robotic arm system of claim 1 , wherein the end effector is adapted to radially grasp a payload.
10 . A robotic arm system, comprising:
a mechanical ground;
a first joint;
a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
a manipulator link coupled to the first joint;
a second joint coupled to the manipulator link distal from the first joint;
an elevation linkage coupled to the manipulator link at the second joint;
a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom; and
an end effector coupled to the wrist; and
a deployment system connecting the manipulator to the mechanical ground, the deployment system comprising a deployment link, wherein the manipulator is rotatable relative to the deployment link at the first joint, wherein the deployment link and the manipulator are movable between a stowed configuration and a deployed configuration.
11 . The robotic arm system of claim 10 , wherein in the deployment link has a deployment link axis, wherein the manipulator link has a manipulator link axis, wherein in the stowed configuration the deployment link axis and the manipulator link axis lie in parallel planes.
12 . The robotic arm system of claim 11 , wherein in the deployed configuration the deployment link axis and the manipulator link axis do not lie in parallel planes.
13 . The robotic arm system of claim 10 , wherein when in the stowed configuration, the manipulator link and the deployment link are vertically stacked.
14 . A robotic arm system, comprising:
a mechanical ground;
a first joint; and
a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
a manipulator link coupled to the first joint;
a second joint coupled to the manipulator link distal from the first joint;
an elevation linkage coupled to the manipulator link at the second joint;
a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom; and
an end effector coupled to the wrist, wherein the end effector comprises:
a body;
first gripper rotatably coupled to the body, the body and the first gripper forming a first payload receiving area;
a rotary cam coupled to the first gripper; and
an end effector actuator to drive the rotary cam, wherein the rotary cam is movable by the end effector actuator to open and close the first gripper.
15 . The robotic arm system of claim 14 , wherein the rotary cam is lockable in a zero-power fully open position.
16 . The robotic arm system of claim 14 , wherein the rotary cam is lockable in a zero-power fully closed position.
17 . The robotic arm system of claim 14 , wherein the end effector further comprises:
a gripper linkage coupled between the rotary cam and the first gripper; and
an inline leaf spring coupled between the gripper linkage and the first gripper, wherein the rotary cam drives the gripper linkage to open and close the first gripper and wherein the inline leaf spring deflects to limit a gripping force applied by the first gripper to a payload in the first payload receiving area.
18 . The robotic arm system of claim 14 , wherein the end effector further comprises:
a gripper linkage coupled between the rotary cam and the first gripper; and
a parallel spring to bias the first gripper closed, wherein the rotary cam drives the gripper linkage to open and close the first gripper.
19 . The robotic arm system of claim 14 , wherein the end effector further comprises a second gripper rotatably coupled to the body to form a second payload receiving area, wherein the rotary cam is coupled to the second gripper and movable to open and close the second gripper, and wherein the first gripper and second gripper are actuated by the same end effector actuator.
20 . The robotic arm system of claim 19 , wherein the end effector actuator is disposed between the first payload receiving area and the second payload receiving area.
21 . A robotic arm system, comprising:
a mechanical ground;
a first joint; and
a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
a manipulator link coupled to the first joint;
a second joint coupled to the manipulator link distal from the first joint;
an elevation linkage coupled to the manipulator link at the second joint;
a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom; and
an end effector coupled to the wrist,
wherein the robotic arm system comprises a yaw, roll, pitch, yaw, yaw, elevation kinematic chain.
22 . The robotic arm system of claim 21 , further comprising a deployment system connecting the manipulator to the mechanical ground, the deployment system comprising a deployment link, wherein the manipulator is rotatable relative to the deployment link at the first joint.
23 . The robotic arm system of claim 21 , wherein the end effector comprises:
a body;
first gripper rotatably coupled to the body, the body and the first gripper forming a first payload receiving area;
a rotary cam coupled to the first gripper; and
an end effector actuator to drive the rotary cam, wherein the rotary cam is movable by the end effector actuator to open and close the first gripper.
24 . A robotic arm system, comprising:
a mechanical ground;
a first joint; and
a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
a manipulator link coupled to the first joint;
a second joint coupled to the manipulator link distal from the first joint;
an elevation linkage coupled to the manipulator link at the second joint;
a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom; and
an end effector coupled to the wrist,
wherein the manipulator is self-leveling.
25 . The robotic arm system of claim 24 , wherein the elevation linkage comprises:
a four-bar linkage including an upper link arranged parallel to a lower link and a first end link arranged parallel to a second end link, wherein the first end link and the second end link are coupled between the upper link and the lower link to form a parallelogram structure;
a gravity compensating spring coupled to the parallelogram structure at a first spring attachment point and a second spring attachment point; and
a spring adjustment actuator coupled to the first spring attachment point, a position of the first spring attachment point adjustable by the spring adjustment actuator.
26 . The robotic arm system of claim 24 , further comprising a deployment system connecting the manipulator to the mechanical ground, the deployment system comprising a deployment link, wherein the manipulator is rotatable relative to the deployment link at the first joint.
27 . A robotic arm system, comprising:
a mechanical ground;
a first joint; and
a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
a manipulator link coupled to the first joint;
a second joint coupled to the manipulator link distal from the first joint;
an elevation linkage coupled to the manipulator link at the second joint, the elevation linkage comprising:
a four-bar linkage including an upper link arranged parallel to a lower link and a first end link arranged parallel to a second end link, wherein the first end link and the second end link are coupled between the upper link and the lower link to form a parallelogram structure;
a gravity compensating spring coupled to the parallelogram structure at a first spring attachment point and a second spring attachment point; and
a spring adjustment actuator coupled to the first spring attachment point, a position of the first spring attachment point adjustable by the spring adjustment actuator;
a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom; and
an end effector coupled to the wrist.
28 . The robotic arm system of claim 27 , further comprising:
a deployment system connecting the manipulator to the mechanical ground, the deployment system comprising a deployment link, wherein the manipulator is rotatable relative to the deployment link at the first joint; and
a base joint.
29 . The robotic arm system of claim 28 , wherein the deployment link and the manipulator are movable between a stowed configuration and a deployed configuration.
30 . A robotic arm system, comprising:
a mechanical ground;
a first joint; and
a manipulator coupled to the first joint, the manipulator rotatable relative to the mechanical ground at the first joint, the manipulator further comprising:
a manipulator link coupled to the first joint;
a second joint coupled to the manipulator link distal from the first joint;
an elevation linkage coupled to the manipulator link at the second joint;
a wrist coupled to the elevation linkage distal from the second joint, the wrist translatable via the elevation linkage without changing orientation relative to the elevation linkage, the wrist having multiple degrees of freedom; and
an end effector coupled to the wrist, wherein the end effector is adapted to radially grasp a payload.
31 . The robotic arm system of claim 30 , wherein the end effector comprises:
a body;
first gripper rotatably coupled to the body, the body and the first gripper forming a first payload receiving area;
a rotary cam coupled to the first gripper; and
an end effector actuator to drive the rotary cam, wherein the rotary cam is movable by the end effector actuator to open and close the first gripper.
32 . The robotic arm system of claim 31 , wherein the rotary cam is lockable in a zero-power fully open position or in a zero-power fully closed position.