US 12,358,127 B2
Robotic arm
Hessam Maleki, Burnaby (CA); Connor Richard Shannon, Vancouver (CA); Seymur Dadashov, Richmond (CA); James Zhong Sheng Liu, Burnaby (CA); and Matthew Hill, Vancouver (CA)
Assigned to Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed by Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed on Mar. 20, 2024, as Appl. No. 18/610,859.
Claims priority of provisional application 63/453,587, filed on Mar. 21, 2023.
Prior Publication US 2024/0316759 A1, Sep. 26, 2024
Int. Cl. B25J 9/10 (2006.01); B25J 9/12 (2006.01)
CPC B25J 9/106 (2013.01) [B25J 9/126 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A robotic wrist comprising:
a first actuator having a first actuator axis and a first rotary output axially aligned with the first actuator axis, wherein the first rotary output is rotatable about the first actuator axis;
a second actuator having a second actuator axis and a second rotary output axially aligned with the second actuator axis, wherein the second rotary output is rotatable about the second actuator axis, wherein the second actuator axis is parallel to and laterally offset from the first actuator axis;
a first linkage arm having one end coupled to the first rotary output and radially displaced from the first actuator axis;
a second linkage arm having one end coupled to the second rotary output and radially displaced from the second actuator axis;
an abduction output rotatable about a first rotational axis and about a second rotational axis transverse to the first rotational axis, wherein the first rotational axis is parallel to the first actuator axis and the second actuator axis;
a first input linkage coupling the first linkage arm and the second linkage arm, wherein the first input linkage comprises an input arm; and
a second input linkage coupling the first linkage input and the abduction output, wherein the second input linkage comprises a spherical linkage;
wherein synchronous operation of the first actuator and the second actuator causes rotation of the input arm and the spherical linkage about a common axis parallel to the first actuator axis and rotation of the abduction output about the first rotational axis; and
wherein asynchronous operation of the first actuator and the second actuator causes rotation of the spherical linkage relative to the input arm and rotation of the abduction output about the second rotational axis.