Robot arm with tendon connector plate and linear actuator

US8919842B2 · kind B2 · utility

Assignee

• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventors

• Chris A. Ihrke · Hartland, US
• Myron A. Diftler · Houston, US
• Lyndon Bridgwater · Houston, US
• Vienny Nguyen · Columbus, US
• Alexander Millerman · Bloomfield Hills, US

Key dates

• Filing date: Feb 7, 2014
• Grant date: Dec 30, 2014
• Expiry date: Feb 7, 2034

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/29
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an arcuate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.