US 12,441,006 B2
Vacuum-environment robot with integrated payload gripper
Martin Hosek, Salem, NH (US); Sripati Sah, Wakefield, MA (US); and Himanshu Shukla, Malden, MA (US)
Assigned to Persimmon Technologies Corporation, Wakefield, MA (US)
Filed by Persimmon Technologies Corporation, Wakefield, MA (US)
Filed on Feb. 23, 2022, as Appl. No. 17/678,180.
Claims priority of provisional application 63/152,979, filed on Feb. 24, 2021.
Prior Publication US 2022/0266456 A1, Aug. 25, 2022
Int. Cl. B25J 15/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 19/00 (2006.01)
CPC B25J 15/0085 (2013.01) [B25J 9/1612 (2013.01); B25J 19/0041 (2013.01); B25J 11/0095 (2013.01)] 37 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a drive;
a movable arm connected to the drive, the movable arm comprising,
a first link rotatable about the drive at a first rotary joint,
a first actuator configured to cause a rotation of the first link about the first rotary joint,
at least one second link connected to the first link at a second rotary joint,
at least one second actuator configured to cause a rotation of the at least one second link about the second rotary joint, and
at least one gripper on the at least one second link, the at least one gripper being configured to carry a payload, the at least one gripper comprising,
a dielectric substrate,
at least one electrode disposed on the dielectric substrate, the at least one electrode being configured to cause a charge migration from the at least one electrode to the dielectric substrate to produce an attractive force on a surface of the dielectric substrate to attract the payload,
a main electronic module configured to apply a voltage to the at least one electrode from a source of current and to produce a control signal; and
an auxiliary electronic module for receiving the control signal from the main electronic module, the auxiliary electronic module being configured to at least control the voltage to the at least one electrode to control the attractive force on the surface of the dielectric substrate and to further at least detect the payload, assess a quality of the at least one gripper on the payload, and communicate a status of the payload to the main electronic module.