Three-axis robotic joint using four-bar linkages to drive differential side gears
US8336420B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 2, 2010 |
| Grant date | Dec 25, 2012 |
| Priority date | — |
| Expiry date | Aug 31, 2031 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20329
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic joint configured as a 3-axis joint. The joint includes an input roll assembly and a pitch-output roll assembly. The pitch-output roll assembly includes: a housing; a differential mechanism including left and right input gears, an output gear, a cross element interconnecting the gears, and a clevis supporting the gears and the cross element; a left four-bar linkage coupled to the left input gear; a right four-bar linkage coupled to the right input gear; and first and second linear actuators connected to the left and right four-bar linkages. The first and second linear actuators selectively drive the left and right input gears to rotate the output gear about an output roll axis and to rotate the cross element about a pitch axis passing through the cross element and input gears. A linear actuator in the input roll assembly rotates the pitch-output roll housing about an input roll axis.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.