Systems and methods for actuation of a robotic manipulator
Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.
1. A modular joint for coupling a first link of a robotic arm and a second link of the robotic arm, the modular joint comprising:
an actuator configured to be non-destructively removably coupled to the first link of the robotic arm, the actuator comprising an output shaft configured to rotate about a first axis;
a bearing configured to be non-destructively removably coupled to the second link of the robotic arm and non-destructively removably coupled to the actuator, the bearing arranged to provide a structural connection between the first link of the robotic arm and the second link of the robotic arm, the structural connection enabling the actuator to be removed from the modular joint without decoupling the bearing from the modular joint, the bearing configured to enable rotation of the second link about the first axis, wherein the output shaft of the actuator is arranged within an internal diameter of the bearing; and
an encoder configured to measure an angle of the second link relative to the first link.
2. The modular joint of claim 1 , wherein the encoder is removably coupled to the bearing.
3. The modular joint of claim 1 , further comprising a tolerance ring disposed between an external diameter of the output shaft of the actuator and the second link, the tolerance ring configured to slip relative to the output shaft of the actuator when a torque of the second link exceeds a threshold torque.
4. The modular joint of claim 1 , wherein the actuator comprises a brushless motor.
5. The modular joint of claim 1 , wherein the bearing comprises a cross roller bearing.
6. The modular joint of claim 1 , wherein the actuator comprises a brake configured to arrest rotation of the actuator.
7. The modular joint of claim 1 , wherein the actuator comprises a strain wave gearbox.
8. The modular joint of claim 1 , wherein the actuator comprises a cycloidal gearbox.
9. The modular joint of claim 1 , wherein the bearing comprises an axial contact bearing.
10. The modular joint of claim 1 , wherein the encoder is coupled to the bearing.
11. The modular joint of claim 1 , wherein
the actuator is configured to be non-destructively removably coupled to the first link using at least one first fastener,
the bearing is configured to be non-destructively removably coupled to the second link using at least one second fastener.
12. The modular joint of claim 1 , wherein the actuator is configured to be decoupled from the bearing without the bearing being decoupled from the second link.