US 12,330,301 B2
Shape-memory effector assemblies with integrated position sensing
Charles Burton Swope, Coral Springs, FL (US); Matthew B. Hayes, Wheaton, IL (US); and Robert E. Beach, Los Altos, CA (US)
Assigned to Zebra Technologies Corporation, Lincolnshire, IL (US)
Filed by ZEBRA TECHNOLOGIES CORPORATION, Lincolnshire, IL (US)
Filed on Nov. 18, 2022, as Appl. No. 17/990,469.
Prior Publication US 2024/0165797 A1, May 23, 2024
Int. Cl. B25J 9/10 (2006.01); B25J 9/00 (2006.01); B25J 9/12 (2006.01); B25J 9/16 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1085 (2013.01) [B25J 9/0009 (2013.01); B25J 9/12 (2013.01); B25J 9/1602 (2013.01); B25J 9/1664 (2013.01); B25J 15/0616 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An effector system, comprising:
an effector assembly including:
a first segment having a conduit between a proximal end and a distal end, an inner surface of the conduit having a conductive portion and a resistive portion;
an output member slidable within the conduit, the output member having a conductive exterior contacting the inner surface;
a first shape-memory transducer affixed between the proximal end and the output member; and
a second shape-memory transducer affixed between the distal end and the output member; and
a controller configured to:
selectively energize: (i) the first shape-memory transducer to slide the output member in a first direction, (ii) the second shape-memory transducer to slide the output member in a second direction, or (iii) the resistive portion of the inner surface; and
in response to energizing the resistive portion, determine a position of the output member.