US 12,214,488 B2
Robotic arm and robot
Shiquan Wang, Foster City, CA (US); Hao Jiang, Mountain View, CA (US); Ran An, San Jose, CA (US); and Xuesen Li, San Mateo, CA (US)
Assigned to SHANGHAI FLEXIV ROBOTICS TECHNOLOGY CO., LTD., Shanghai (CN); and FLEXIV LTD., Grand Cayman (KY)
Filed by Shanghai Flexiv Robotics Technology Co., Ltd., Shanghai (CN); and Flexiv Ltd., Grand Cayman (KY)
Filed on Sep. 3, 2019, as Appl. No. 16/558,985.
Prior Publication US 2021/0060793 A1, Mar. 4, 2021
Int. Cl. B25J 13/08 (2006.01); B25J 17/00 (2006.01); B25J 18/00 (2006.01); B25J 19/02 (2006.01)
CPC B25J 13/085 (2013.01) [B25J 17/00 (2013.01); B25J 18/00 (2013.01); B25J 19/02 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A robotic arm, comprising:
a plurality of joints including three or more joints that include at least a pitch joint and a roll joint, wherein each of the joints includes a motor, a gear drive, and a force and torque sensor, and the force and torque sensor is provided outside an input end and an output end of a respective one of the plurality of joints;
a plurality of links connected successively by the plurality of joints, wherein the force and torque sensor is configured to measure force and torque information of the respective one of the plurality of joints in multiple degrees of freedom (DOF), and wherein a structure stiffness of the force and torque sensor in an actuation direction of the respective one of the plurality of joints is lower than a structure stiffness of the force and torque sensor in other directions.