Humanoid robot with advanced wiring assembly
A humanoid robot includes a first actuator, a second actuator, and a wire bundle interconnecting the two. The first actuator has a first side with a first printed circuit board (PCB) including a first PCB terminal having a first plurality of pins, and an opposed second side including an output portion, an actuator cover coupled to the output portion and having a wire bundle opening formed therein, and an actuator opening formed through an extent of the second side. The second actuator includes a second PCB with a second PCB terminal having a second plurality of pins, the first plurality being greater in number than the second plurality. The wire bundle includes end connectors coupled to the respective PCB terminals and a plurality of wires extending between them, the wires routed through the actuator opening and the wire bundle opening of the first actuator.
1 . A humanoid robot, comprising:
a first actuator having:
a first side,
a first actuator printed circuit board (PCB) positioned near said first side of the first actuator and including a first PCB terminal with a first plurality of pins, and
a second side that is opposed to the first side and including: (i) an output portion, (ii) an actuator cover coupled to the output portion and having a wire bundle opening formed therein, and (iii) an actuator opening formed through an extent of the second side;
a second actuator having:
a first side, and
a second actuator printed circuit board (PCB) positioned near said first side of the second actuator and including a second PCB terminal with a second plurality of pins, and wherein a number of pins in the first plurality of pins is greater than a number of pins in the second plurality of pins; and
a wire bundle having:
a first end connector coupled to the first PCB terminal,
a second end connector coupled to the second PCB terminal, and
a plurality of wires extending between the first end connector and the second end connector, and wherein said plurality of wires extends through the actuator opening of the second side of the first actuator and the wire bundle opening formed in the actuator cover of the second side of the first actuator.
2 . The humanoid robot of claim 1 , wherein the first side of the first actuator is fixed within a first housing of the robot, and the first side of the second actuator is fixed within a second housing of the robot, wherein the second housing is different from the first housing.
3 . The humanoid robot of claim 1 , wherein the plurality of wires includes a first portion positioned within the first actuator, and wherein said first portion twists radially within the first actuator when the output portion of the first actuator moves.
4 . The humanoid robot of claim 1 , wherein the plurality of wires includes:
a first portion of the plurality of wires includes an extent that is positioned within the first actuator and has a first shape; and
a second portion of the plurality of wires includes an extent that is positioned outside of the first actuator and has a second shape that is different from the first shape.
5 . The humanoid robot of claim 1 , wherein the first end connector is coupled to the first PCB terminal by a threaded nut and a threaded extent of first end connector.
6 . The humanoid robot of claim 1 , wherein the first end connector is configured to receive three different voltages during operation of the humanoid robot, and wherein at least one voltage of the three different voltages is substantially 48 volts.
7 . The humanoid robot of claim 1 , wherein the humanoid robot is free of wires that are positioned along an exterior periphery of the humanoid robot.
8 . The humanoid robot of claim 1 , wherein the first actuator includes a permanent magnet synchronous motor coupled to a planetary gearbox.
9 . The humanoid robot of claim 1 , further comprising a head having a screen positioned therein.
10 . The humanoid robot of claim 1 , further comprising a computer configured to run a transformer-based model that allows the humanoid robot to operate autonomously.
11 . The humanoid robot of claim 1 , wherein the first actuator further includes an inductive encoder that is operatively coupled to a portion of the first actuator PCB.
12 . The humanoid robot of claim 1 , wherein the first actuator further includes a Hall-effect sensor that is operatively coupled to a portion of the first actuator PCB.
13 . The humanoid robot of claim 1 , wherein the first actuator includes a strain wave gearbox.
14 . The humanoid robot of claim 1 , wherein the first actuator is positioned in a knee portion of the humanoid robot and is configured to allow power to be removed from the first actuator without causing the humanoid robot to fall.
15 . The humanoid robot of claim 1 , wherein the wire bundle opening does not have a substantially circular cross-sectional area.
16 . The humanoid robot of claim 1 , wherein the plurality of wires includes a first portion that has a substantially rectangular cross-sectional area.
17 . The humanoid robot of claim 16 , wherein the plurality of wires includes a second portion that has a substantially circular cross-sectional area.
18 . The humanoid robot of claim 1 , wherein the first end connector includes an outer surface having a planar extent.
19 . The humanoid robot of claim 1 , further comprising a power distribution assembly that includes two different voltage channels, wherein one voltage channel of the two different voltage channels is configured to handle a voltage of less than 24 volts.
20 . The humanoid robot of claim 1 , wherein the first end connector has a width that is less than a diameter of the actuator opening of the first actuator.
21 . The humanoid robot of claim 1 , wherein the actuator opening of the first actuator resides in a first plane, and the wire bundle opening in the actuator cover resides in a second plane that is oriented at a non-zero angle relative to the first plane.
22 . The humanoid robot of claim 1 , further comprising a head having a frontal shell and an indicator light positioned adjacent to the frontal shell.
23 . The humanoid robot of claim 1 , further comprising an indicator light configured to display the operational status of a component of the humanoid robot.