公开(公告)号：US11272662B2

公开(公告)日：2022-03-15

申请号：US15532239

申请日：2015-12-02

Applicant: SRI INTERNATIONAL

Inventor： Curt Salisbury ,  Jacob Suchoski ,  Rich Mahoney

IPC: A01D46/30 ,  A01D46/00 ,  B25J15/00

Abstract: A fruit harvesting system includes a vacuum generating subsystem and an end effector connected to the vacuum generating subsystem. The end effector has a first tube having a first diameter, and a second tube having a second diameter smaller than the first diameter so the second tube fits inside the first tube. A fruit harvesting system includes a vacuum generating subsystem, a tube connected to the vacuum generating subsystem and at least one structure coupled to an inside of the tube. A fruit harvesting system includes a vacuum generating subsystem, a first tube connected to the vacuum generating subsystem, and a second tube coupled to the first tube, the second tube having a tubular portion coupled to the first tube in an orientation other than parallel, the second tube having openings on opposite sides of the first tube.

公开(公告)号：US20180272541A1

公开(公告)日：2018-09-27

申请号：US15990388

申请日：2018-05-25

Applicant: SRI INTERNATIONAL

Inventor： Curt Salisbury ,  Mike Stevens ,  Zachery Shivers

IPC: B25J13/08 ,  B25J15/00 ,  B25J15/02

Abstract: A compact lightweight robotic end-effector has a large range of possible applied force. The end-effector includes one or more underactuated appendages, where each appendage is driven by a single motor connected to a driving cable wound throughout the appendage. The driving cable may be a flat cable or a cable with another non-circular cross section. The driving cable may be wrapped through a series of pulleys and/or bearings within the appendage to reduce frictional losses. The design of the pulley path may allow a desired mechanical response by the appendage, and the mechanical response may be optimized for a grasping process.

公开(公告)号：US10537998B2

公开(公告)日：2020-01-21

申请号：US15990388

申请日：2018-05-25

Applicant: SRI INTERNATIONAL

Inventor： Curt Salisbury ,  Mike Stevens ,  Zachery Shivers

IPC: B25J15/00 ,  B25J13/08 ,  B25J15/02

Abstract: A compact lightweight robotic end-effector has a large range of possible applied force. The end-effector includes one or more underactuated appendages, where each appendage is driven by a single motor connected to a driving cable wound throughout the appendage. The driving cable may be a flat cable or a cable with another non-circular cross section. The driving cable may be wrapped through a series of pulleys and/or bearings within the appendage to reduce frictional losses. The design of the pulley path may allow a desired mechanical response by the appendage, and the mechanical response may be optimized for a grasping process.

公开(公告)号：US10415672B2

公开(公告)日：2019-09-17

申请号：US15568585

申请日：2016-04-21

Applicant: SRI International

Inventor： Curt Salisbury

IPC: F16H1/32 ,  F16H55/08

Abstract: An apparatus includes a ring gear having a plurality of gear teeth, where each of the plurality of gear teeth of the planet gear has a partial cycloid profile, and a planet gear rotatable within the ring gear, where the planet gear has a plurality of gear teeth, and each of the plurality of gear teeth of the planet gear has a partial cycloid profile. The total number of gear teeth of the planet gear is smaller than the total number of gear teeth of the ring gear. The gear teeth of the planet gear operatively mesh with corresponding gear teeth of the ring gear. The total number of gear teeth of the planet gear provides each gear tooth of the planet gear with a bending strength and a compressive strength such that the bending strength and the compressive strength differ by less than a predetermined amount.

公开(公告)号：US10670119B2

公开(公告)日：2020-06-02

申请号：US15738706

申请日：2016-06-24

Applicant: SRI INTERNATIONAL

Inventor： Alexander Steele Kernbaum ,  Curt Salisbury

IPC: F16H13/08 ,  F16H1/28 ,  F16H13/06

Abstract: An apparatus includes a first ring having an open annular space and a variable-width groove disposed on an interior peripheral surface of the first ring; a second ring rotatable within the open annular space of the first ring, where the second ring has a respective variable-width groove disposed on an exterior peripheral surface of the second ring; and a plurality of rollers disposed between, and configured to roll on, the interior peripheral surface of the first ring and the exterior peripheral surface of the second ring and rotatable therebetween.