公开(公告)号：US20240217096A1

公开(公告)日：2024-07-04

申请号：US18399632

申请日：2023-12-28

申请人： Sanctuary Cognitive Systems Corporation

发明人： Hessam Maleki ,  Seymur Dadashov

IPC分类号： B25J9/12 ,  B25J13/08

CPC分类号： B25J9/126 ,  B25J13/088

摘要： An actuator for a robotic joint includes an actuator housing. A motor is disposed within the actuator housing. The motor includes a stator that is rotationally fixed relative to the actuator housing and a rotor that is rotatable relative to the stator and actuator housing. An output shaft is coupled to a rotational motion of the rotor by a gear reducer. A first rotary encoder is coupled to the rotor to measure one or more parameters of the rotational motion of the rotor. A second rotary encoder is coupled to the output shaft to measure one or more parameters of a rotational motion of the output shaft.

公开(公告)号：US20240316759A1

公开(公告)日：2024-09-26

申请号：US18610859

申请日：2024-03-20

申请人： Sanctuary Cognitive Systems Corporation

发明人： Hessam Maleki ,  Connor Richard Shannon ,  Seymur Dadashov ,  James Zhong Sheng Liu ,  Matthew Hill

IPC分类号： B25J9/12 ,  B25J9/10 ,  B25J18/00

CPC分类号： B25J9/126 ,  B25J9/106 ,  B25J18/00

摘要： A robotic wrist for a robotic arm includes a hybrid differential with a first cam, a second cam, a first differential input, and a second differential input. The first cam and the second cam are disposed about first and second pivots oriented along a first rotational axis. An abduction output is coupled to the second cam and has a second rotational axis transverse to the first rotational axis. The robotic wrist includes a first actuator, a second actuator, a first link coupling an output of the first actuator to the first differential input, and a second link coupling an output of the second actuator to the second differential input. Synchronous motion of the actuators causes flexion of the abduction output about the first rotation axis, and asynchronous motion of the actuators causes abduction motion of the abduction output about the second rotation axis.

公开(公告)号：US20240316796A1

公开(公告)日：2024-09-26

申请号：US18611569

申请日：2024-03-20

申请人： Sanctuary Cognitive Systems Corporation

发明人： Hessam Maleki ,  Connor Richard Shannon ,  Seymur Dadashov ,  James Zhong Sheng Liu ,  Matthew Hill

IPC分类号： B25J17/02

CPC分类号： B25J17/0283

摘要： A robotic elbow has a first actuator having a rotary output and a first interface for coupling the elbow to a first robotic arm segment. A flexion frame rotatably mounts to the first actuator. A first link is coupled at one end to the output of the first actuator and at another end to the flexion frame. A second link is coupled at one end to the output of the first actuator and at another end to the flexion frame. The first link and the second link are coupled to the rotary output in a selected rotary phase displacement. A second actuator is mounted in the flexion frame, the second actuator has an output and a second interface for coupling the robotic elbow to a second robotic arm segment.

公开(公告)号：US20240316795A1

公开(公告)日：2024-09-26

申请号：US18610622

申请日：2024-03-20

申请人： Sanctuary Cognitive Systems Corporation

发明人： Matthew Hill ,  Hessam Maleki ,  Connor Richard Shannon ,  Seymur Dadashov ,  James Zhong Sheng Liu

IPC分类号： B25J17/02 ,  B25J9/10 ,  B25J9/16 ,  B25J15/00 ,  B25J19/00

CPC分类号： B25J17/0266 ,  B25J9/106 ,  B25J9/1664 ,  B25J15/0009 ,  B25J19/0041

摘要： A robotic wrist includes a wrist frame, a first actuator having a first actuator output, and a second actuator having a second actuator output. A first mechanical linkage includes a first input coupled to the first actuator output and a first output coupled to the wrist frame. A second mechanical linkage includes a second input coupled to the second actuator output and a second output coupled to the wrist frame. A rotational position of the first output about a first axis is responsive to a position of the first actuator output. A rotational position of the second output about a second axis that is transverse to the first axis is responsive to a different between a position of the first actuator output and a position of the second actuator output.

公开(公告)号：US20240208082A1

公开(公告)日：2024-06-27

申请号：US18395746

申请日：2023-12-26

申请人： Sanctuary Cognitive Systems Corporation

发明人： Connor Richard Shannon ,  Hessam Maleki ,  James Zhong Sheng Liu ,  Matthew Hill ,  Seymur Dadashov

IPC分类号： B25J17/00

CPC分类号： B25J17/00

摘要： A robotic torso for a humanoid robot includes a first torso member having an axial axis aligned with a reference axis and a second torso member having at least one mounting portion for at least one humanoid component. The robotic torso includes a series of actuators arranged in a column between the first torso member and the second torso member and coupling the first torso member to the second torso member. Each of the actuators has a rotatable member defining a rotational axis. The rotational axes of each adjacent pair of actuators in the series of actuators are orthogonal to each other.