Jointed Arm Patents (Class 901/15)
  • Patent number: 10493620
    Abstract: A substrate transport apparatus including a frame, at least one arm link rotatably connected to the frame and a shaftless drive section. The shaftless drive section including stacked drive motors for rotating the at least one arm link relative to the frame through a shaftless interface, each of the stacked drive motors including a stator having stator coils disposed on a fixed post fixed relative to the frame and a rotor substantially peripherally surrounding the stator such that the rotor is connected to a respective one of the at least one arm link for rotating the one of the at least one arm link relative to the frame causing an extension or retraction of the one of the at least one arm link, where the stacked drive motors are disposed in the at least one arm link so that part of each stator is within a common arm link.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: December 3, 2019
    Assignee: BROOKS AUTOMATION, INC.
    Inventor: Robert T. Caveney
  • Patent number: 10213918
    Abstract: A dual-arm robot includes a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion. The first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis. Further, the second link of the first arm and the second link of the second arm are disposed so as to be located between the first link of the first arm and the first link of the second arm in the extending direction of the first axis and so that the end effector attaching portions are located at substantially the same position in the extending direction of the first axis.
    Type: Grant
    Filed: December 26, 2014
    Date of Patent: February 26, 2019
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Takahiro Inada, Kenji Bando, Yoshiaki Tanaka, Junichi Murakami, Satoru Hibino, Yukio Iwasaki
  • Patent number: 10011469
    Abstract: Apparatuses and systems for rotatably engaging an additive manufacturing build plate are disclosed. An apparatus may include: a height adjustable platform; a rotatable member coupled to the height adjustable platform; an alignment member coupled to a first end of the rotatable member; and first and second coupling members each extending from the first radial end of the alignment member wherein the first and second coupling members are oriented substantially parallel to the rotatable member.
    Type: Grant
    Filed: April 12, 2016
    Date of Patent: July 3, 2018
    Assignee: General Electric Company
    Inventors: Tiffany Muller Craft, Steven John Barnell, Archie Lee Swanner, Jr., Steven Charles Woods
  • Patent number: 9308652
    Abstract: A robot module including a robot drive and a robot body, the robot body having a spacer rod, a robot head and at least one control arm, wherein a drive platform of the robot drive and an attachment group of the robot head are connected to each other via the spacer rod and the control arm, wherein the robot drive is configured to swivel the robot head by means of the spacer rod and the control arm, wherein an attachment surface of the attachment group comprises a first gravity center and an attachment surface of the drive platform comprises a second gravity center, and wherein the spacer rod is arranged in the first and the second gravity center.
    Type: Grant
    Filed: December 4, 2012
    Date of Patent: April 12, 2016
    Assignee: BECKHOFF AUTOMATION GMBH
    Inventors: Armin Pehlivan, Michael Jaeger, Thomas Rettig
  • Patent number: 9027431
    Abstract: An apparatus having a member that revolves about a remote center of motion (RCM) and a base link coupled to a mounting fixture. A first and second link are pivotably coupled to the member at respective distances from the RCM and are translatable relative to the base link along a first direction, at a fixed ratio of displacement. The ratio of respective distances equals a fixed ratio of displacement. The apparatus has a translational motion generator for a first and second element along parallel opposing directions. The translational motion generator is disposed on the first link and enables motion parallel to the first direction. The base link is fixed in position, the first element is fixed to the base link and the second element is fixed to the second link, such that the first and second link may translate relative to the base link with fixed ratio of displacement.
    Type: Grant
    Filed: May 12, 2010
    Date of Patent: May 12, 2015
    Assignee: Katholieke Universiteit Leuven
    Inventors: Hsiao-Wei Tang, Hendrik Van Brussel, Jan Peirs, Thierry Janssens
  • Publication number: 20150121983
    Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.
    Type: Application
    Filed: October 31, 2014
    Publication date: May 7, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu OKAHISA, Masami NAKAKURA, Teppei SONODA
  • Patent number: 9021916
    Abstract: A robotic arm includes a driving unit, a first arm assembly connected to the driving unit, and a second arm assembly. The first arm includes two balls. The second arm assembly includes two arms and two intermediate members. Each intermediate member is secured to an end of one of the two arms. Each intermediate member defines a receiving recess. Each receiving recess has a spherical inner circumferential surface. Each ball is partially received in one of the two receiving recesses and abuts against the spherical inner circumferential surface. The two arms and the two intermediate members are capable of rotating about the balls. The driving unit drives the balls to move. The balls force the arms to move in a direction as a moving orientation of the balls, at the same time the arms rotating about the balls.
    Type: Grant
    Filed: November 11, 2013
    Date of Patent: May 5, 2015
    Assignees: Shenzhen Futaihong Precision Industry Co., Ltd., FIH (Hong Kong) Limited
    Inventors: Jie Gao, Jian-Ping Jin, Bing Yu
  • Patent number: 9024488
    Abstract: A drive section for a substrate transport arm including a frame, at least one stator mounted within the frame, the stator including a first motor section and at least one stator bearing section and a coaxial spindle magnetically supported substantially without contact by the at least one stator bearing section, where each drive shaft of the coaxial spindle includes a rotor, the rotor including a second motor section and at least one rotor bearing section configured to interface with the at least one stator bearing section, wherein the first motor section is configured to interface with the second motor section to effect rotation of the spindle about a predetermined axis and the at least one stator bearing section is configured to effect at least leveling of a substrate transport arm end effector connected to the coaxial spindle through an interaction with the at least one rotor bearing section.
    Type: Grant
    Filed: October 5, 2012
    Date of Patent: May 5, 2015
    Assignee: Brooks Automation, Inc.
    Inventors: Ulysses Gilchrist, Martin Hosek, Jairo Terra Moura, Jay Krishnasamy, Christopher Hofmeister
  • Patent number: 9023060
    Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
    Type: Grant
    Filed: December 6, 2012
    Date of Patent: May 5, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
  • Publication number: 20150110584
    Abstract: A substrate processing apparatus including a frame, a first SCARA arm connected to the frame, including an end effector, configured to extend and retract along a first radial axis; a second SCARA arm connected to the frame, including an end effector, configured to extend and retract along a second radial axis, the SCARA arms having a common shoulder axis of rotation; and a drive section coupled to the SCARA arms is configured to independently extend each SCARA arm along a respective radial axis and rotate each SCARA arm about the common shoulder axis of rotation where the first radial axis is angled relative to the second radial axis and the end effector of a respective arm is aligned with a respective radial axis, wherein each end effector is configured to hold at least one substrate and the end effectors are located on a common transfer plane.
    Type: Application
    Filed: December 22, 2014
    Publication date: April 23, 2015
    Inventors: Ulysses Gilchrist, Robert T. Caveney, Jayaraman Krishnasamy, Mitchell Drew, Jairo T. Moura
  • Publication number: 20150112486
    Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
    Type: Application
    Filed: December 4, 2014
    Publication date: April 23, 2015
    Inventors: David Q. Larkin, Vincent Duindam
  • Publication number: 20150104283
    Abstract: A robot system according to embodiments includes a robot including an arm, and a work table. On the work table, an object used for work performed by the robot by using the arm is placed. The arm of the robot includes a first arm portion, a second arm portion, and a third arm portion. The first arm portion supports an end effector to be rotatable about a first rotation axis at a distal end thereof. The second arm portion supports a base end of the first arm portion to be swingable about a second rotation axis substantially perpendicular to the first rotation axis. The third arm portion supports a base end of the second arm portion to be swingable about a third rotation axis substantially perpendicular to the second rotation axis.
    Type: Application
    Filed: December 19, 2014
    Publication date: April 16, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Kazuyoshi NOGAMI, Tamio NAKAMURA, Takashi NISHIMURA, Takashi SUYAMA, Nobukazu MIYAUCHI
  • Patent number: 8998797
    Abstract: A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.
    Type: Grant
    Filed: July 18, 2008
    Date of Patent: April 7, 2015
    Assignee: Karl Storz GmbH & Co. KG
    Inventor: Shigeru Omori
  • Publication number: 20150094856
    Abstract: A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32).
    Type: Application
    Filed: December 18, 2014
    Publication date: April 2, 2015
    Inventors: ALEKSANDRA POPOVIC, PAUL THIENPHRAPA
  • Publication number: 20150088309
    Abstract: A method for operating a multi-limb manipulator which includes electric actuators assigned to manipulator limbs, control units assigned to the actuators, including: the provision of desired movement values for the actuator to an actuator dynamic model and the determination of an electric desired current value for the actuator, the transfer of the desired current value to a controller designed for outputting an actuator current to the actuator with the inclusion of the desired current value and of a measured actual current value and a measured actual position of the actuator, wherein a difference between the desired current value and the actual current value is determined as a required positional deviation, and wherein the positional deviation is added to the desired distance fed into the actuator dynamic model to facilitate a diversion movement of the manipulator limb operated by the actuator on the occurrence of an external disturbing force.
    Type: Application
    Filed: September 24, 2014
    Publication date: March 26, 2015
    Inventors: Matthias Doll, Armin Hartmann, Rudiger Neumann
  • Publication number: 20150082934
    Abstract: A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.
    Type: Application
    Filed: September 23, 2014
    Publication date: March 26, 2015
    Inventor: Wen-Der Trui
  • Patent number: 8978507
    Abstract: A balancing mechanism for a robot configured for lifting heavy weights comprises a hollow balancing body comprising an opening; an elastic assembly received in the balancing body and a pulling rod assembly received in the balancing body and hinged to a robot arm of the robot. One end of the pulling rod assembly resists the elastic assembly, and another opposite end of the pulling rod assembly extends out from the balancing body through the opening, the pulling rod assembly is movably assembled with the balancing body via the elastic assembly to make the elastic assembly capable of producing a balancing moment against the gravity moment of the robot arm.
    Type: Grant
    Filed: April 13, 2012
    Date of Patent: March 17, 2015
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Publication number: 20150068347
    Abstract: A robot arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover.
    Type: Application
    Filed: September 9, 2014
    Publication date: March 12, 2015
    Inventors: Daisuke KIRIHARA, Kazuto YOSHIMURA
  • Publication number: 20150073435
    Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 12, 2015
    Inventors: Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin
  • Patent number: 8977378
    Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: March 10, 2015
    Assignee: Northeastern University
    Inventors: Brian Weinberg, Constantinos Mavroidis
  • Publication number: 20150063973
    Abstract: A robotic carton unloader for automatic unloading of cartons from a carton pile. In various embodiments, a robotic carton unloader may comprise a mobile body, a movable robotic arm attached to the mobile body and comprising an end effector configured to unload a row of cartons in a side-by-side orientation from the carton pile, and a conveyor system mounted on the mobile body and configured to receive the row of cartons from the end effector in the side-by-side orientation. In various embodiments the conveyor system may comprise a front-end descrambler and a central descrambler coupled to the front-end descrambler. In various embodiments, the robotic arm may be configured to straddle at least a portion of the mobile body and at least a portion of the conveyor system such that the conveyor system conveys cartons from the carton pile through the robotic arm.
    Type: Application
    Filed: August 28, 2014
    Publication date: March 5, 2015
    Inventors: Michael L. Girtman, Matthew Wicks
  • Patent number: 8968332
    Abstract: The present invention relates to magnetically coupleable robotic surgical devices. More specifically, the present invention relates to robotic surgical devices that can be inserted into a patient's body and can be positioned within the patient's body using an external magnet.
    Type: Grant
    Filed: June 21, 2007
    Date of Patent: March 3, 2015
    Assignee: Board of Regents of the University of Nebraska
    Inventors: Shane Farritor, Amy Lehman, Nathan A. Wood, Mark Rentschler, Jason Dumpert, Dmitry Oleynikov
  • Publication number: 20150045954
    Abstract: A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 that drive-controls the multi-articulated robot 2 based on an input motion command. The controller 3 includes: a joint angle computing unit 32 that computes each joint angle command for driving the multi-articulated robot 2 based on the motion command; a servo controlling apparatus 30 that moves the multi-articulated robot 2 by rotationally driving each rotational joint based on the joint angle command computed by the joint angle computing unit 32; a singular point calculating unit 51 that calculates a distance between the multi-articulated robot 2 and a singular point of the multi-articulated robot 2; and a maximum joint angle deviation adjusting unit 52 that limits a maximum rotation speed of a rotational joint specified in advance based on a singular point type, if the singular point distance becomes smaller than a predetermined value.
    Type: Application
    Filed: July 18, 2014
    Publication date: February 12, 2015
    Inventor: Mahito Negishi
  • Publication number: 20150042784
    Abstract: An object of the invention is to provide an image photographing method makes it possible to photograph a moving object at a desired photographing position without increasing the size of an image to be processed. The image photographing method includes a first photographing step in which a camera controller carries out continuous photographing in a first image quality, an estimation calculation step for estimating a timing at which the object to be photographed passes through a predetermined desired position range on the basis of a plurality of positions of the object to be photographed, the plurality of positions being obtained from the images photographed by the camera controller in the first photographing step, and a second photographing step in which the camera controller carries out photographing at the passing timing in a second image quality finer than the first image quality.
    Type: Application
    Filed: July 24, 2014
    Publication date: February 12, 2015
    Inventor: Kenkichi Yamamoto
  • Patent number: 8918212
    Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
    Type: Grant
    Filed: June 24, 2009
    Date of Patent: December 23, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Vincent Duindam
  • Publication number: 20140358162
    Abstract: Robotic platform for mini-invasive surgery comprising robotic arms (4a, 4b) suitable to be placed in the body of a patient, introduced through a single access port, which are an extension of external robotic manipulators (19). The continuity between external (1) and internal (4a, 4b) robotic arms is guaranteed by means of a trans-abdominal magnetic connection (6) between the internal robotic arm integral with the external one. The trans-abdominal magnetic coupling not only guarantees a stable anchoring, but most of all it transfers degrees of freedom to the internal robotic arms, inducing the motion of internal magnets by means of the automatized motion of external magnets. It is also possible to reposition the internal robotic arms without requiring having to additionally perform incisions on the abdomen. Using the external robotic arms allows translating the internal ones on the entire abdomen thus providing a working space not bound to the point of insertion and theoretically unlimited.
    Type: Application
    Filed: May 31, 2012
    Publication date: December 4, 2014
    Applicant: VANDERBILT UNIVERSITY
    Inventors: Pietro Valdastri, Christian Di Natali, Massimiliano Simi, Tommaso Ranzani, Arianna Menciassi, Paolo Dario
  • Publication number: 20140358161
    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
    Type: Application
    Filed: May 31, 2013
    Publication date: December 4, 2014
    Inventors: Arjang M. HOURTASH, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
  • Patent number: 8903546
    Abstract: An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.
    Type: Grant
    Filed: August 15, 2009
    Date of Patent: December 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Patent number: 8893578
    Abstract: A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.
    Type: Grant
    Filed: September 21, 2011
    Date of Patent: November 25, 2014
    Assignee: Fanuc Corporation
    Inventors: Satoshi Kinoshita, Hikaru Yamashiro
  • Publication number: 20140343728
    Abstract: Disclosed is an underwater exploration system using a multi-joint underwater robot having a novel complex movement concept in which the multi-joint underwater robot moves through walking or swimming with multi-joint legs closely to a seafloor, differently from a conventional underwater robot to obtain a thrust through a propeller scheme. The underwater exploration system includes the multi-joint underwater robot having the complex movement function according, a depressor, and a mother ship to store data of an underwater state transmitted from the multi-joint underwater robot and to monitor and control a movement direction of the multi-joint underwater robot. The depressor is connected to the mother ship through a primary cable, the multi-joint underwater robot is connected to the depressor through a second cable, and resistance force of the primary cable is applied to the depressor without being transmitted to the multi-joint underwater robot.
    Type: Application
    Filed: December 13, 2012
    Publication date: November 20, 2014
    Inventors: Bong-Huan Jun, Hyung-Won Shim, Jin-Yeong Park, Bang-Hyun Kim, Hyuk Baek, Pan-Mook Lee
  • Patent number: 8874262
    Abstract: An operational space control solution is provided for rigid-body dynamical systems such as humanoid or legged robots. The solution includes an operational space controller that decomposes rigid body dynamics into task space dynamics and null space dynamics. Then, for systems that are fully actuated and have constraints, the controller provides control signals defining task space torques and null space torques for each actuator (e.g., a motor for a rotary joint between two rigid links). In some embodiments, a minimum torque vector is determined such that the controller is a minimum-torque operational space controller. For systems that are underactuated, task and null space dynamics are again considered, and underactuation is addressed by using null space forces to indirectly apply torque at passive degrees of freedom such as at active joints to create task-irrelevant motion that moves passive joints to facilitate task performance by the robot or rigid-body dynamical system.
    Type: Grant
    Filed: September 27, 2011
    Date of Patent: October 28, 2014
    Assignee: Disney Enterprises, Inc.
    Inventor: Michael N. Mistry
  • Patent number: 8868236
    Abstract: A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.
    Type: Grant
    Filed: January 8, 2013
    Date of Patent: October 21, 2014
    Assignee: ABB Research Ltd.
    Inventor: Torgny Brogårdh
  • Patent number: 8863606
    Abstract: A robot wrist structure includes a first wrist arm rotatable about a first axis, a second wrist arm provided in a tip end portion of the first wrist arm and configured to swing about a second axis substantially intersecting the first axis, a wrist flange provided in a tip end portion of the second wrist arm and configured to rotate about a third axis in a skew position with respect to the second axis, an intermediate member fixed to the wrist flange, and a cable bundle connected to an end effector fixed to the intermediate member. The cable bundle extends through the second wrist arm, the wrist flange and the intermediate member and drawn out from the intermediate member to reach the end effector.
    Type: Grant
    Filed: October 28, 2011
    Date of Patent: October 21, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Atsushi Ichibangase, Takashi Sanada, Kei Kamohara
  • Patent number: 8855817
    Abstract: A method for operating a system including at least two robots for handling parts and a robot control unit arranged for control of said at least two robots. Each of the robots is arranged with a parts handler device including a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to the end element. Each of the robots is also arranged with a gripper connected to the rigid arm by a second swivel arranged for free, passive rotation of the gripper in relation to the rigid arm. The method includes generating instructions for the at least two robots to pick and/or move and/or place a part and sending the instructions to each robot simultaneously.
    Type: Grant
    Filed: December 19, 2007
    Date of Patent: October 7, 2014
    Assignee: ABB Research Ltd.
    Inventors: Ramon Casanelles, Francisco Cortés Grau
  • Patent number: 8849455
    Abstract: A robot system according to embodiments includes a position command generating unit that corrects a position command of a motor based on a rotation angle of the motor, which drives a link of a robot via a speed reducer, and a rotation angle of an output shaft of the speed reducer.
    Type: Grant
    Filed: December 21, 2011
    Date of Patent: September 30, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Tetsuro Izumi, Tomohiro Matsuo
  • Publication number: 20140288702
    Abstract: The robotic system for the removal of bolts from haulage truck wheels is comprised mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom (1), with a system for tightening and removal (2) which allows taking bolts from a drawer rack (3) located on a mobile equipment (4). The operator indicates the beginning of the operations as well as the key positions for the activity development. The reposition of new bolts and the relocation of the mobile system is presently carried out by the operator. In this regard, most of the major problems associated to the safety of the personnel and a decreasing of availability are eliminated.
    Type: Application
    Filed: November 13, 2006
    Publication date: September 25, 2014
    Inventor: Hugo Salamanca
  • Publication number: 20140286741
    Abstract: Robot apparatus, substrate transport systems, and methods are described. The robot apparatus and systems are adapted to efficiently put or pick substrates at a destination by rotating a boom linkage to a position adjacent to the destination and then actuating robot assemblies to put or pick the substrates at the destination. Numerous other aspects are provided.
    Type: Application
    Filed: June 6, 2014
    Publication date: September 25, 2014
    Inventors: Izya Kremerman, Jeffrey C. Hudgens
  • Patent number: 8843235
    Abstract: Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.
    Type: Grant
    Filed: January 13, 2012
    Date of Patent: September 23, 2014
    Assignees: Toyota Motor Engineering & Manufacturing North America, Inc., Carnegie Mellon University
    Inventors: Yasuhiro Ota, Junggon Kim, James J. Kuffner
  • Publication number: 20140277679
    Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.
    Type: Application
    Filed: March 14, 2014
    Publication date: September 18, 2014
    Applicant: Northeastern University
    Inventors: Brian Weinberg, Constantinos Mavroidis
  • Patent number: 8834489
    Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
    Type: Grant
    Filed: July 11, 2012
    Date of Patent: September 16, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
  • Patent number: 8833197
    Abstract: A steerable multi-linked device may include a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first multi-linked mechanism and the second multi-linked mechanism may include a first link, a plurality of intermediate links, a second link movably coupled to a second one of the intermediate links and a reinforcing member. A first one of the intermediate links may be movably coupled to the first link, and the reinforcing member may extend from a first end of a third one of the intermediate links toward a second end of the third one of the intermediate links.
    Type: Grant
    Filed: May 3, 2013
    Date of Patent: September 16, 2014
    Assignee: Carnegie Mellon University
    Inventors: Brett Zubiate, Howie Choset
  • Publication number: 20140245856
    Abstract: A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.
    Type: Application
    Filed: May 15, 2014
    Publication date: September 4, 2014
    Applicant: Seiko Epson Corporation
    Inventors: Daisuke KIRIHARA, Shingo HOSHINO
  • Patent number: 8818560
    Abstract: A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.
    Type: Grant
    Filed: March 29, 2011
    Date of Patent: August 26, 2014
    Assignee: Olympus Corporation
    Inventor: Kosuke Kishi
  • Patent number: 8806974
    Abstract: A device for transmitting movements comprising a parallel kinematics transmission structure adapted to provide at least one degree of freedom including three translational degrees of freedom, the parallel kinematics transmission structure further comprising a base member (2), a moveable member (4), and at least one parallel kinematics chain (6) coupling the base member (2) and the moveable member (4), each parallel kinematics chain (6) having a first arm (8) moveable in a movement plane wherein the movement planes are at a distance to a symmetry axis (40), and each parallel kinematics chain (6) comprising a second arm (10) coupled to the moveable member (4), wherein a first end (18) of the second arm (10) is adapted to be coupled to the first arm (8) and a second end (16) of the second arm (10) is adapted to be coupled to the moveable member (4).
    Type: Grant
    Filed: February 10, 2006
    Date of Patent: August 19, 2014
    Assignee: Novint Technologies, Inc.
    Inventors: Patrick Helmer, Francois Conti, Patrice Rouiller, Sebastien Grange
  • Patent number: 8784033
    Abstract: Substrate transport systems, apparatus and methods are described. The systems are adapted to efficiently put or pick substrates at a destination by rotating a boom linkage to a position adjacent to the destination and then actuating a robot assembly to put or pick the substrate at the destination. Numerous other aspects are provided.
    Type: Grant
    Filed: January 8, 2010
    Date of Patent: July 22, 2014
    Assignee: Applied Materials, Inc.
    Inventors: Izya Kremerman, Jeffrey C. Hudgens
  • Patent number: 8777547
    Abstract: A substrate transporting robot apparatus is disclosed which is adapted to transport a substrate to and from a chamber of an electronic device processing system. The apparatus may include an upper arm rotatable in an X-Y plane, a forearm rotatable relative to the upper arm in the X-Y plane, and a wrist member rotatable relative to the forearm in the X-Y plane, the wrist member including an end effector adapted to carry a substrate. The wrist member may be subjected to independent rotation such that various degrees of yaw may be imparted to the wrist member. In some aspects, the independent rotation is provided without a motive power device (e.g., motor) being provided on the arms or wrist member, i.e., the wrist member may be remotely driven. Systems and methods using the robot apparatus are also provided as are numerous other aspects.
    Type: Grant
    Filed: January 8, 2010
    Date of Patent: July 15, 2014
    Assignee: Applied Materials, Inc.
    Inventors: Izya Kremerman, Jeffrey C. Hudgens
  • Patent number: 8763489
    Abstract: A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.
    Type: Grant
    Filed: April 24, 2012
    Date of Patent: July 1, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Daisuke Kirihara, Shingo Hoshino
  • Patent number: 8761927
    Abstract: A system for externally actuating an animatronic figure. The system including a first robotic mechanism configured as a remote center mechanism for rotating a first rod about a first remote center point. The first rod is attached to a first driven part of the figure with the first remote center point spaced apart from the figure. The system includes a second robotic mechanism rotating a second rod about a second remote center point. The second rod is attached to the second driven part of the animatronic figure, and the second remote center point is spaced apart from the animatronic figure. The system includes a third robotic mechanism rotating a third rod about a remote center point, with the third rod attached to a third driven part of the figure, and the three robotic mechanisms are concurrently operable via a computer-based controller to provide the figure with twenty-one degrees of freedom.
    Type: Grant
    Filed: December 17, 2010
    Date of Patent: June 24, 2014
    Assignee: Disney Enterprises, Inc.
    Inventors: Steven A. Johnson, Akhil Jiten Madhani, Joel F. Jensen, Daniel R. Bauen, Troy A. Carter, Cassilyn Bair
  • Patent number: 8752449
    Abstract: A substrate transport apparatus including a frame, a drive section connected to the frame and including at least one independently controllable motor, at least two substrate transport arms connected to the frame and comprising arm links arranged for supporting and transporting substrates, and a mechanical motion switch coupled to the at least one independently controllable motor and the at least two substrate transport arms for effecting the extension and retraction of one of the at least two substrate transport arms while the other one of the at least two substrate transport arms remains in a substantially retracted configuration.
    Type: Grant
    Filed: May 8, 2008
    Date of Patent: June 17, 2014
    Assignee: Brooks Automation, Inc.
    Inventors: Christopher Hofmeister, Alexander G. Krupyshev, Krysztof A. Majczak, Martin Hosek, Jay Krishnasamy
  • Patent number: 8747050
    Abstract: A substrate transport apparatus including a first shaftless rotary motor including a first stator and a first rotor, the first stator being linearly distributed and the first rotor being coupled to a first arm, a second shaftless rotary motor including a second stator and second rotor, the second stator being linearly distributed and the second rotor being coupled to a second arm, the second arm being connected to the first arm and a first substrate support being coupled to at least one of the first and second arms, wherein the first stator and second stator are configured so that the first and second arms and the first substrate support are inside the stators and a motor output at a connection between the first and second shaftless rotary motors and a respective one of the first and second arms is a resultant force disposed peripheral to the first and second arms.
    Type: Grant
    Filed: September 14, 2012
    Date of Patent: June 10, 2014
    Assignee: Brooks Automation, Inc.
    Inventors: Christopher Hofmeister, Robert T. Caveney