US 12,233,543 B2
Wire routing for robotic manipulator
Brian Dellon, West Roxbury, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jun. 7, 2023, as Appl. No. 18/330,998.
Application 18/330,998 is a continuation of application No. 17/087,142, filed on Nov. 2, 2020, granted, now 11,707,854.
Claims priority of provisional application 63/080,115, filed on Sep. 18, 2020.
Prior Publication US 2023/0311346 A1, Oct. 5, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 19/00 (2006.01); B25J 9/10 (2006.01); B25J 17/02 (2006.01)
CPC B25J 19/0029 (2013.01) [B25J 9/104 (2013.01); B25J 17/0283 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot comprising:
a body;
a plurality of legs coupled to the body; and
a robotic manipulator coupled to the body and comprising:
an input link;
an output link coupled to the input link at a boundary, the output link configured to rotate about a longitudinal axis of the output link relative to the input link;
a groove recessed from an outer surface of the input link and an outer surface of the output link, the groove traversing the boundary; and
a wire routing traversing the boundary and within the groove, the wire routing having an apex that aligns radially with the boundary between the output link and the input link, the wire routing transitioning between wrapping around the groove in a first direction and wrapping around the groove in a second direction at the apex.