Abstract: Techniques for a conformal gripping end effector such as a gripping finger are provided. In an example, a conformal finger mechanism can include a proximal link, a connecting link, a distal link, a finger link coupling and a spring. The proximal link can be coupled via a proximal link pivot to an actuator housing and the connecting link can be coupled to an actuator rod of the actuator and the distal link. The distal link can be coupled to the connecting link and the proximal link. The spring can be coupled to an offset portion of a proximal end of the proximal link.

Abstract: A fluid rotary joint has a stator with a generally curved stator body and a flex spline with a flexible annular band disposed about and secured to the stator body. The stator also has at least three radially extendable members disposed between the stator body and the annular band to deform the annular band away from the stator body to contact the inner surface of a rotor. The inner circumference of the rotor is greater than the outer circumference of the annular band. A driver selectively expands the extendable members and brings the annular band of the stator into frictional driving engagement with the rotor for rotating the rotor. The extendable members may also be selectively extended to allow the stator and rotor to freely move with respect to one another or to have limited contact with one another to act as a torque limiting device.

Abstract: A fluid rotary joint has a stator with a generally curved stator body and a flex spline with a flexible annular band disposed about and secured to the stator body. The stator also has at least three radially extendable members disposed between the stator body and the annular band to deform the annular band away from the stator body to contact the inner surface of a rotor. The inner circumference of the rotor is greater than the outer circumference of the annular band. A driver selectively expands the extendable members and brings the annular band of the stator into frictional driving engagement with the rotor for rotating the rotor. The extendable members may also be selectively extended to allow the stator and rotor to freely move with respect to one another or to have limited contact with one another to act as a torque limiting device.

Abstract: A robot quick-release assembly has a first joint member and a robot component mounted thereon, the first joint member has a first coupler and a second joint member, a robot arm mounted thereon, has a second coupler, a clamp, and a locking collar. The first coupler can be coaxially aligned with the second coupler and pressed into the second joint member, and detachably connected to the second joint member. The first mechanical coupler is detachably connected to the second mechanical coupler for transferring power across the quick-release assembly. The robot component can receive an additional electrical connector, the additional electrical connector supplying power to the robot component. The quick-release assembly coupling assembly further exerts large forces with the application of a relatively small torque to the locking collar by applying a two stage wedge engagement and can further include a sequencing system.

Abstract: An automated tool change assembly and method for automatically coupling a robotic end effector to a robotic manipulator. The automated tool change assembly of the present invention provides first and second light-weight mechanical joint members for automated coupling to provide a rigid connection that can include an electrical connection to pass power and signals between the end effector and the manipulator. The connection can also have full pass-through mechanical power. The assembly also includes a tool station for docking an end effector. The tool station can also provide a platform to align tools with manipulators in forming the automatic connection between joint members. The tool station also provides a release bar for manually releasing end effectors from manipulators. Software scripts can connect and disconnect the tool change assembly remotely when attached to a robot.

Abstract: A robot quick-release assembly has a first joint member and a robot component mounted thereon, the first joint member has a first coupler and a second joint member, a robot arm mounted thereon, has a second coupler, a clamp, and a locking collar. The first coupler can be coaxially aligned with the second coupler and pressed into the second joint member, and detachably connected to the second joint member. The first mechanical coupler is detachably connected to the second mechanical coupler for transferring power across the quick-release assembly. The robot component can receive an additional electrical connector, the additional electrical connector supplying power to the robot component. The quick-release assembly coupling assembly further exerts large forces with the application of a relatively small torque to the locking collar by applying a two stage wedge engagement and can further include a sequencing system.

Abstract: A robotic finger assembly can include a base for mounting the finger to a robotic hand, with the base having a motor, and at least three links. The links of the robotic hand are connected to each other and to the base by a series of joints. A joint shaft and a pivot shaft, where the pivot shaft can freely move within its respective joint shaft, is connected to a preceding link. The motor is activated for opening or closing the finger. The finger closes on an object with a distributed force across the links. Grasping also can mean engaging an object like a human hand, by closing the first finger link until it engages the object, then closing the second finger link until it engages the object, then closing the third link until it engages the object. A robotic hand assembly is also disclosed.

Abstract: An assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm is disclosed. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.

Abstract: A compliant tool holder is provided for use with robots, unmanned ground vehicles, and the like. The compliant tool holder is characterized in that it involves the use of means for compliance, such as springs, rubber, plastics, metals, composites, shock mounts, vibration mounts, or similar means for permitting compliant movement in three rotational and three translational degrees of freedom during end effector changes. The compliant tool holder reduces costs associated with automated tool change in the field, and allows for more rapid switching of end effectors, enabling a greater range of uses for robots and unmanned ground vehicles.

Abstract: A robotic finger assembly can include a base for mounting the finger to a robotic hand, with the base having a motor, and at least three links. The links of the robotic hand are connected to each other and to the base by a series of joints. A joint shaft and a pivot shaft, where the pivot shaft can freely move within its respective joint shaft, is connected to a preceding link. The motor is activated for opening or closing the finger. The finger closes on an object with a distributed force across the links. Grasping also can mean engaging an object like a human hand, by closing the first finger link until it engages the object, then closing the second finger link until it engages the object, then closing the third link until it engages the object. A robotic hand assembly is also disclosed.

Abstract: This invention is an assembly and method for releasably connecting a gripper finger to a robotic arm with only manual manipulation. The assembly includes a finger body having a quick-change bar connected to a locking lever. The locking lever can be rotated by hand to engage and disengage the assembly to connect a finger to a gripper connected to a robot. The locking lever provides a sleeve and pin which interact to lock the assembly. The sleeve and pin can have recessed surfaces formed to interact with roll pins or screws to restrict behavior of the quick-change device during engagement.

Abstract: An automated tool change assembly and method for automatically coupling a robotic end effector to a robotic manipulator. The automated tool change assembly of the present invention provides first and second light-weight mechanical joint members for automated coupling to provide a rigid connection that can include an electrical connection to pass power and signals between the end effector and the manipulator. The connection can also have full pass-through mechanical power. The assembly also includes a tool station for docking an end effector. The tool station can also provide a platform to align tools with manipulators in forming the automatic connection between joint members. The tool station also provides a release bar for manually releasing end effectors from manipulators. Software scripts can connect and disconnect the tool change assembly remotely when attached to a robot.

Abstract: A compliant tool holder is provided for use with robots, unmanned ground vehicles, and the like. The compliant tool holder is characterized in that it involves the use of means for compliance, such as springs, rubber, plastics, metals, composites, shock mounts, vibration mounts, or similar means for permitting compliant movement in three rotational and three translational degrees of freedom during end effector changes. The compliant tool holder reduces costs associated with automated tool change in the field, and allows for more rapid switching of end effectors, enabling a greater range of uses for robots and unmanned ground vehicles.

Abstract: An assembly and method for releasably connecting a gripper finger to a robotic arm needing only manual manipulation to operate. The assembly includes a finger body having a quick-change bar connected to a locking lever. The locking lever can be rotated by hand to engage and disengage the assembly to connect a finger to a gripper connected to a robot. The locking lever provides a sleeve and pin which interact to lock the assembly. The sleeve and pin can have recessed surfaces formed to interact with roll pins or screws to restrict behavior of the quick-change device during engagement.

Abstract: The present invention is an assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.

Abstract: A robot quick-release assembly has a first joint member and a robot component mounted thereon, the first joint member has a first coupler and a second joint member, a robot arm mounted thereon, has a second coupler, a clamp, and a locking collar. The first coupler can be coaxially aligned with the second coupler and pressed into the second joint member, and detachably connected to the second joint member. The first mechanical coupler is detachably connected to the second mechanical coupler for transferring power across the quick-release assembly. The robot component can receive an additional electrical connector, the additional electrical connector supplying power to the robot component. The quick-release assembly coupling assembly further exerts large forces with the application of a relatively small torque to the locking collar by applying a two stage wedge engagement and can further include a sequencing system.