US 12,365,083 B2
Shape-memory effector systems
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. 17/990,462.
Prior Publication US 2024/0165793 A1, May 23, 2024
Int. Cl. B25J 9/12 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); B25J 15/06 (2006.01); B25J 17/02 (2006.01)
CPC B25J 9/0084 (2013.01) [B25J 9/0009 (2013.01); B25J 9/1085 (2013.01); B25J 9/12 (2013.01); B25J 9/1664 (2013.01); B25J 15/0616 (2013.01); B25J 17/0275 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An effector system, comprising:
a plurality of effector assemblies configured to engage a target object;
a base having a plurality of mounting surfaces for movably supporting the effector assemblies;
a plurality of actuators coupled to the base, each actuator including:
an actuator housing defining a conduit having a first end and a second end;
an output member slidable within the conduit;
a first shape-memory transducer affixed between the first end and the output member;
a second shape-memory transducer affixed between the second end and the output member;
an electrical subassembly configured to control each actuator to cause the output member to slide towards a selected one of the first end and the second end; and
a plurality of linkages between respective output members and effector assemblies, each linkage configured to move a corresponding effector assembly relative to the base in response to sliding of the respective output member.