公开(公告)号：US11674556B1

公开(公告)日：2023-06-13

申请号：US17306233

申请日：2021-05-03

Applicant: Amazon Technologies, Inc.

Inventor： Beth A. Marcus ,  John William Romanishin

IPC: B25J9/16 ,  F16D49/08 ,  F16D63/00 ,  F16D65/16 ,  F16D121/20

CPC classification number: F16D49/08 ,  B25J9/1641 ,  F16D63/002 ,  F16D65/16 ,  F16D2121/20

Abstract: A system and method for backdrivability control of end effectors in robotic systems are described. In one example, a robotic system includes a joint in a kinematic chain, an end effector at an end of the kinematic chain, and an assembly for backdrivability control of the joint. The assembly includes a frame comprising a flexure arm and a circular clearance area that extends around the joint, a brake band having one end secured along the circular clearance area and a second end secured at an end of the flexure arm, and a brake actuator configured to selectively pull the end of the flexure arm and tighten the brake band around the joint. The brake actuator can be actuated to tighten the brake band around the joint, arresting or dampening motion in the kinematic chain of the system for certain movements.

公开(公告)号：US11022191B1

公开(公告)日：2021-06-01

申请号：US16680061

申请日：2019-11-11

Applicant: Amazon Technologies, Inc.

Inventor： Beth A. Marcus ,  John William Romanishin

IPC: B25J9/16 ,  F16D49/08 ,  F16D63/00 ,  F16D65/16 ,  F16D121/20

Abstract: A system for backdrivability control of end effectors in robotic systems is described. In one example, a brake assembly for backdrivability control includes a frame having a clearance area. The brake assembly is positioned so that the rotor of the motor extends through the clearance area. The brake assembly includes a brake band secured at one distal end along the clearance area, extending around a periphery of the clearance area, and secured at a second distal end at a flexure arm of the frame. The brake assembly also includes a brake actuator including a permanent magnet at the distal end of the flexure arm and an electromagnet secured to the fame. The brake actuator can be energized to tighten the brake band around the rotor of the motor, arresting or dampening motion of the end effector for certain movements.