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公开(公告)号：WO2017079105A1
公开(公告)日：2017-05-11
申请号：PCT/US2016/059818
申请日：2016-11-01
Applicant: IROBOT CORPORATION
Inventor： OHM, Timothy R. , CLAFFEE, Mark R. , AMARAL, Erik , SHAMLIAN, Steven V. , MOZEIKA, Annan M.
CPC classification number: B25J15/08 , B25J9/1045 , B25J13/084 , B25J15/0009
Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the linger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.
Abstract translation: 机器人末端执行器包括手指和至少一个致动器。 手指沿手指轴从近端延伸到远端。 手指包括邻近近端的第一指骨，邻近远端的第二指骨以及包括插入第一指骨和第二指骨之间并分离第一指骨的至少一个椎骨的关节。 关节接头构造成允许第二趾骨相对于第一趾骨围绕垂直于徘徊轴线的枢转轴线枢转。 每个椎骨具有沿手指轴线延伸的轴向厚度和垂直于其轴向厚度延伸的横向宽度，并且其横向宽度大于其轴向厚度。 所述至少一个致动器可操作以使第二指骨相对于第一指骨围绕枢转轴线移动。
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公开(公告)号：WO2016123083A1
公开(公告)日：2016-08-04
申请号：PCT/US2016/014879
申请日：2016-01-26
Applicant: IROBOT CORPORATION
Inventor： CLAFFEE, Mark R. , OHM, Timothy R. , AMARAL, Erik , MOZEIKA, Annan M.
CPC classification number: F16H25/20 , B25J17/0266 , F16H35/18 , F16H2025/2062
Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.
Abstract translation: 机器人包括支撑件，联接到支撑件的可移动构件以允许围绕俯仰轴线和偏转轴线的万向节旋转，以及连接到每个支撑件和可动构件并且可操作以使可移动构件绕其周围旋转的第一和第二线性致动器 俯仰轴和偏航轴。 第一线性致动器在第一枢转点枢转地附接到可动构件。 第二线性致动器在第二枢转点枢转地附接到可动构件。 第一枢转点和第二枢转点各自与俯仰轴线和偏转轴线成角度偏移约45度并位于俯仰轴线的同一侧。
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公开(公告)号：EP3250348A1
公开(公告)日：2017-12-06
申请号：EP16743948.8
申请日：2016-01-26
Applicant: iRobot Corporation
Inventor： CLAFFEE, Mark R. , OHM, Timothy R. , AMARAL, Erik , MOZEIKA, Annan M.
CPC classification number: F16H25/20 , B25J17/0266 , F16H35/18 , F16H2025/2062
Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.
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