Engineering Services Inc.

Xiaojia He

Andrew A Goldenberg

Ziren Lu

Brent Andrew Bailey

Yi Yang

Matthew Gryniewski

A two joint module includes a housing and a pair of hollow rotary actuator assemblies. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged back to back and attached to the housing such that cables can be fed from the outside of one of the pair of hollow rotary actuator assemblies to the inside thereof and to the inside of the other of the pair of hollow rotary actuator assemblies to the outside thereof. The disclosure also relates to a robotic arm. The robotic includes at least two two joint modules as described herein and at least a first link.

Two joint module and arm using same

Robotic joint

Robotic arm

A robotic arm includes a first link and a first joint. The first link has internal link cables extending from one end to an opposed end thereof. The first joint is operably connected to the first link at one end thereof. The first joint has a hollow drive shaft, an off axis driveand a first joint motor and first joint internal cables extending through the hollow drive shaft. The link cables and the first joint cables are operably connected. The robotic arm may further include a second joint operably connected to the first link. The second joint module has an active side, a passive side with electronic connectors, second joint internal cables, and a second joint motor and the active side is mechanically connected to the link and the electronic connectors of the passive side are operably connected to the link cables.

A two joint module includes a module housing, a first joint and a second joint. The module housing has a structural support portion. The first joint has a first motor and a first motor axis and a first joint axis. The second joint has a second motor and a second motor axis and a second joint axis. The second joint axis is not parallel to the first joint axis. The first joint is attached to the structural support portion and the second joint is attached to the structural support portion.

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Toronto, Canada

Xiaojia He