US20080021440A1 — Electro-mechancial strap stack in robotic arms

Claim 1

Independent Claim 101 words

1 . A robotic arm comprising: a first driver pulley rigidly coupled to a first link of a plurality of links pivotally coupled in series together at a plurality of joints to form a linkage assembly to pitch the robotic arm; a second driver pulley rigidly coupled to a second link of the plurality of links; and an electro-mechanical strap stack routed between the first driver pulley and the second driver pulley and over an idler pulley in a third link, the electro-mechanical strap stack to improve electrical conduction in the third link between the first link and the second link.

Claim 2

Dependent Claim 101 words

1 . A robotic arm comprising: a first driver pulley rigidly coupled to a first link of a plurality of links pivotally coupled in series together at a plurality of joints to form a linkage assembly to pitch the robotic arm; a second driver pulley rigidly coupled to a second link of the plurality of links; and an electro-mechanical strap stack routed between the first driver pulley and the second driver pulley and over an idler pulley in a third link, the electro-mechanical strap stack to improve electrical conduction in the third link between the first link and the second link.

Claim 3

Dependent Claim 30 words

2 . The robotic arm of claim 1 , wherein the electro-mechanical strap stack includes a drive strap in a stacked configuration with a ground strap to improve chassis grounding.

Claim 4

Dependent Claim 31 words

3 . The robotic arm of claim 1 , wherein the electro-mechanical strap stack includes a drive strap in a stacked configuration with an electrical cable strap to improve signal routing.

Claim 5

Dependent Claim 39 words

4 . The robotic arm of claim 1 , wherein the electro-mechanical strap stack includes a drive strap in a stacked configuration with a ground strap and an electrical cable strap to both improve chassis grounding and signal routing.

Claim 6

Dependent Claim 27 words

5 . The robotic arm of claim 2 , wherein the ground strap includes a conductive material and is stacked onto the drive strap in parallel relation.

Claim 7

Dependent Claim 22 words

6 . The robotic arm of claim 5 , wherein the ground strap includes one or more layers of beryllium copper (BeCu).

Claim 8

Dependent Claim 93 words

7 . The robotic arm of claim 2 , wherein the ground strap of the electro-mechanical strap stack is coupled to the first driver pulley and the second driver pulley; and the robotic arm further comprises a ground cable including a conductive material, the ground cable having a first end coupled to the first link, the ground cable extending through the first link and having a second end coupled to a chassis ground such that the plurality of links are coupled to the chassis ground by the ground cable and the ground strap.

Claim 9

Dependent Claim 93 words

8 . The robotic arm of claim 4 , wherein the ground strap of the electro-mechanical strap stack is coupled to the first driver pulley and the second driver pulley; and the robotic arm further comprises a ground cable including a conductive material, the ground cable having a first end coupled to the first link, the ground cable extending through the first link and having a second end coupled to a chassis ground such that the plurality of links are coupled to the chassis ground by the ground cable and the ground strap.

Claim 10

Dependent Claim 36 words

9 . The robotic arm of claim 3 , wherein the electrical cable strap includes one or more flexible electrical cable straps, and each flexible electrical cable strap includes one or more flexible electrical signal lines.

Claim 11

Dependent Claim 26 words

10 . The robotic arm of claim 9 , wherein the one or more flexible electrical cable straps and the flexible electrical signal lines are flat.

Claim 12

Dependent Claim 36 words

11 . The robotic arm of claim 4 , wherein the electrical cable strap includes one or more flexible electrical cable straps, and each flexible electrical cable strap includes one or more flexible electrical signal lines.

Claim 13

Dependent Claim 26 words

12 . The robotic arm of claim 11 , wherein the one or more flexible electrical cable straps and the flexible electrical signal lines are flat.

Claim 14

Dependent Claim 62 words

13 . The robotic arm of claim 9 , further comprising: a first printed circuit board in the first link coupled to a first end of the flexible electrical cable straps of the electro-mechanical strap stack, and a second printed circuit board in the second link coupled to a second end of the flexible electrical cable straps of the electro-mechanical strap stack.

Claim 15

Dependent Claim 42 words

14 . The robotic arm of claim 1 , wherein the third link is bent and includes the idler pulley pivotally coupled to the third link near a bend to direct the electro-mechanical strap stack around the bend in the third link.

Claim 16

Dependent Claim 50 words

15 . The robotic arm of claim 14 , further comprising: a stacked strap guide system located proximate the idler pulley, the stacked strap guide system including a plurality of pulleys through which the electro-mechanical strap stack extends to laterally constrain the electro-mechanical strap stack moving over the idler pulley.

Claim 17

Dependent Claim 37 words

16 . The robotic arm of claim 15 , wherein the stacked strap guide system further comprises one of an anti-friction pad or a roller to longitudinally constrain the electro-mechanical strap stack moving over the idler pulley.

Claim 18

Dependent Claim 86 words

17 . A robotic arm comprising: a linkage assembly including a plurality of links pivotally coupled in series together at a plurality of joints, respectively, to provide an insertion axis for the robotic arm; and a strap drive-train coupled to the linkage assembly, the strap drive train to enable movement of the linkage assembly about a pitch axis; wherein the strap drive-train includes an electro-mechanical strap stack having a drive strap coupled between a drive link and an instrument holder link of the plurality of links.

Claim 19

Dependent Claim 86 words

17 . A robotic arm comprising: a linkage assembly including a plurality of links pivotally coupled in series together at a plurality of joints, respectively, to provide an insertion axis for the robotic arm; and a strap drive-train coupled to the linkage assembly, the strap drive train to enable movement of the linkage assembly about a pitch axis; wherein the strap drive-train includes an electro-mechanical strap stack having a drive strap coupled between a drive link and an instrument holder link of the plurality of links.

Claim 20

Dependent Claim 26 words

18 . The robotic arm of claim 17 , wherein the electro-mechanical strap stack includes a ground strap in a stacked configuration with the drive strap.

Claim 21

Dependent Claim 27 words

19 . The robotic arm of claim 17 , wherein the electro-mechanical strap stack includes an electrical cable strap in a stacked configuration with the drive strap.

Claim 22

Dependent Claim 31 words

20 . The robotic arm of claim 17 , wherein the electro-mechanical strap stack includes a ground strap and an electrical cable strap in a stacked configuration with the drive strap.

Claim 23

Dependent Claim 27 words

21 . The robotic arm of claim 18 , wherein the ground strap includes a conductive material and is stacked onto the drive strap in parallel relation.

Claim 24

Dependent Claim 22 words

22 . The robotic arm of claim 21 , wherein the ground strap includes one or more layers of beryllium copper (BeCu).

Claim 25

Dependent Claim 52 words

23 . The robotic arm of claim 21 , further comprising: the ground strap electrically couples to a ground cable including a conductive material, the ground cable extending through other links of the plurality of links to a chassis ground such that the plurality of links are coupled to the chassis ground.

Claim 26

Dependent Claim 36 words

24 . The robotic arm of claim 22 , wherein the electrical cable includes one or more flexible electrical cable straps, and wherein each flexible electrical cable strap includes one or more flexible electrical signal lines.

Claim 27

Dependent Claim 22 words

25 . The robotic arm of claim 24 , wherein the flexible electrical cable straps and flexible electrical signal lines are flat.

Claim 28

Dependent Claim 71 words

26 . The robotic arm of claim 25 , wherein one end of the flexible electrical cable straps of the electro-mechanical strap stack couples to a printed circuit board, and the robotic arm further comprises an electrical cable having a first end coupled to the printed circuit board and a second end extending through the first link of the plurality of links to an electrical signal interface of the robotic arm.

Claim 29

Dependent Claim 89 words

27 . The robotic arm of claim 17 , wherein the electro-mechanical strap stack is routed between the drive link and the instrument holder link through a middle link of the plurality of links, and the strap drive-train further comprises a first driver pulley rigidly coupled to the drive link; and a second driver pulley rigidly coupled to the instrument holder link; wherein the drive strap of the electro-mechanical strap stack is coupled between the first driver pulley and the second driver pulley and routed through the middle link.

Claim 30

Dependent Claim 42 words

28 . The robotic arm of claim 27 , wherein: the middle link is bent and includes an idler pulley pivotally coupled to the bent link near the bend to direct the electro-mechanical strap stack around the bend in the bent link.

Claim 31

Dependent Claim 47 words

29 . The robotic arm of claim 28 , further comprising: a stacked strap guide system located proximate the idler pulley, the stacked strap guide system including a plurality of pulleys through which the electro-mechanical strap stack extends to laterally constrain its movement over the idler pulley.

Claim 32

Dependent Claim 37 words

30 . The robotic arm of claim 29 , wherein the stacked strap guide system further comprises one of an anti-friction pad or a roller to longitudinally constrain the electro-mechanical strap stack moving over the idler pulley.

Claim 33

Dependent Claim 86 words

31 . A method for a robotic arm, the method comprising: pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link; wherein the electro-mechanical strap stack includes a drive strap coupled to the linkage, the drive strap to move the linkage assembly.

Claim 34

Dependent Claim 86 words

31 . A method for a robotic arm, the method comprising: pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link; wherein the electro-mechanical strap stack includes a drive strap coupled to the linkage, the drive strap to move the linkage assembly.

Claim 35

Dependent Claim 30 words

32 . The method of claim 31 , wherein the electro-mechanical strap stack further includes a ground strap in a stacked configuration with the drive strap to improve chassis grounding.

Claim 36

Dependent Claim 30 words

33 . The method of claim 31 , wherein the electro-mechanical strap stack further includes an electrical cable in a stacked configuration with the drive strap to improve signal routing.

Claim 37

Dependent Claim 38 words

34 . The method of claim 31 , wherein the electro-mechanical strap stack further includes a ground strap and an electrical cable in a stacked configuration with the drive strap to both improve chassis grounding and signal routing.

Claim 38

Dependent Claim 29 words

35 . The method of claim 32 , wherein the ground strap includes a conductive material and the ground strap is stacked onto the drive strap in parallel relation.

Claim 39

Dependent Claim 21 words

36 . The method of claim 35 , wherein the ground strap includes one or more layers of beryllium copper (BeCu).

Claim 40

Dependent Claim 55 words

37 . The method of claim 35 , further comprising: coupling a ground cable having a conductive material to the ground strap of the electro-mechanical strap stack, the ground cable extending through other links of the plurality of links to a chassis ground such that the plurality of links are coupled to the chassis ground.

Claim 41

Dependent Claim 32 words

38 . The method of claim 33 , wherein the electrical cable includes one or more flexible electrical cables, and each flexible electrical cable includes one or more flexible electrical signal lines.

Claim 42

Dependent Claim 20 words

39 . The method of claim 38 , wherein the flexible electrical cable and flexible electrical signal lines are flat.

Claim 43

Dependent Claim 72 words

40 . The method of claim 39 , further comprising: coupling a first end of the flat electrical cable of the electro-mechanical strap stack to a printed circuit board; and coupling a first end of an electrical cable extending through at least one other link of the plurality of links to the printed circuit board and a second end of the electrical cable to an electrical signal interface of the robotic arm.

Claim 44

Dependent Claim 82 words

41 . The method of claim 31 , further comprising: coupling the electro-mechanical strap stack between the first link and the second link through a third link of the plurality of links, by: clamping the electro-mechanical strap stack to a first driver pulley rigidly coupled to the first link; and clamping the electro-mechanical strap stack to a second driver pulley rigidly coupled to the second link; wherein the electro-mechanical strap stack extends through the third link between the first and second links.

Claim 45

Dependent Claim 41 words

42 . The method of claim 41 , wherein the third link is bent and includes an idler pulley pivotally coupled to the third link near the bend to direct the electro-mechanical strap stack around the bend in the third link.

Claim 46

Dependent Claim 35 words

43 . The method of claim 42 , further comprising: laterally constraining movement of the electro-mechanical strap stack to track the electro-mechanical strap stack over the idler pulley and avoid wandering off the idler pulley.

Claim 47

Dependent Claim 36 words

44 . The method of claim 42 , further comprising: longitudinally constraining movement of the electro-mechanical strap stack to track the electro-mechanical strap stack over the idler pulley and avoid puffing of the electro-mechanical strap stack.

Claim 48

Dependent Claim 168 words

45 . A strap drive-train for use in a robotic arm to enable movement of a linkage assembly having a plurality of links pivotally coupled in series together at a plurality of joints, respectively, for movement of the robotic arm about a pitch axis, the strap drive-train comprising: a first driver pulley rigidly coupled to a first link of the plurality of links; a second driver pulley rigidly coupled to a second link of the plurality of links; and an electro-mechanical strap stack routed between the first driver pulley and the second driver pulley through a third link located between the first link and the second link, the electro-mechanical strap stack including a drive strap coupled to the first driver pulley and the second driver pulley, a ground strap having a conductive material, a flexible electrical cable strap having one or more flexible electrical signal lines, and wherein the ground strap and the flexible electrical cable strap being in a stacked and parallel configuration with the drive strap.

Claim 49

Dependent Claim 168 words

45 . A strap drive-train for use in a robotic arm to enable movement of a linkage assembly having a plurality of links pivotally coupled in series together at a plurality of joints, respectively, for movement of the robotic arm about a pitch axis, the strap drive-train comprising: a first driver pulley rigidly coupled to a first link of the plurality of links; a second driver pulley rigidly coupled to a second link of the plurality of links; and an electro-mechanical strap stack routed between the first driver pulley and the second driver pulley through a third link located between the first link and the second link, the electro-mechanical strap stack including a drive strap coupled to the first driver pulley and the second driver pulley, a ground strap having a conductive material, a flexible electrical cable strap having one or more flexible electrical signal lines, and wherein the ground strap and the flexible electrical cable strap being in a stacked and parallel configuration with the drive strap.

Claim 50

Dependent Claim 22 words

46 . The strap drive-train of claim 45 , wherein the ground strap includes one or more layers of beryllium copper (BeCu).

Claim 51

Dependent Claim 56 words

47 . The strap drive-train of claim 45 , further comprising: a ground cable including a conductive material coupled to the ground strap of the electro-mechanical strap stack, the ground cable extending through other links of the plurality of links to a chassis ground such that the plurality of links are coupled to the chassis ground.

Claim 52

Dependent Claim 22 words

48 . The strap drive-train of claim 45 , wherein the flexible electrical cable strap and flexible electrical signal lines are flat.

Claim 53

Dependent Claim 50 words

49 . The strap drive-train of claim 48 , further comprising: an electrical cable coupled to the flat electrical cable straps of the electro-mechanical strap stack, the electrical cable extending through at least one other link of the plurality of links to an electrical signal interface of the robotic arm.

Claim 54

Dependent Claim 42 words

50 . The strap drive-train of claim 45 , wherein the third link is bent and includes an idler pulley pivotally coupled to the third link near the bend to direct the electro-mechanical strap stack around the bend in the third link.

Claim 55

Dependent Claim 50 words

51 . The strap drive-train of claim 50 , further comprising: a stacked strap guide system located proximate the idler pulley, the stacked strap guide system including a plurality of pulleys through which the electro-mechanical strap stack extends to laterally constrain the electro-mechanical strap stack moving over the idler pulley.

Claim 56

Dependent Claim 37 words

52 . The strap drive-train of claim 51 , wherein the stacked strap guide system further comprises one of an anti-friction pad or a roller to longitudinally constrain the electro-mechanical strap stack moving over the idler pulley.

Claim 57

Dependent Claim 132 words

53 . An electro-mechanical strap stack routed over an idler pulley in a link of a robotic arm between a first driver pulley and a second driver pulley, the electro-mechanical strap stack comprising: a flat metal drive strap coupled to the first driver pulley and the second driver pulley, flat metallic ground strapping stacked on and in parallel to the metal drive strap, the flat metallic ground strapping including a plurality of conductive material layers coupled to the first driver pulley and the second driver pulley, one or more flat flexible signal cables stacked on the flat metallic ground strapping in parallel with the flat metal drive strap, each of the one or more flat flexible signal cables having a plurality of flat flexible electrical signal lines surrounded by an insulating material.

Claim 58

Dependent Claim 132 words

53 . An electro-mechanical strap stack routed over an idler pulley in a link of a robotic arm between a first driver pulley and a second driver pulley, the electro-mechanical strap stack comprising: a flat metal drive strap coupled to the first driver pulley and the second driver pulley, flat metallic ground strapping stacked on and in parallel to the metal drive strap, the flat metallic ground strapping including a plurality of conductive material layers coupled to the first driver pulley and the second driver pulley, one or more flat flexible signal cables stacked on the flat metallic ground strapping in parallel with the flat metal drive strap, each of the one or more flat flexible signal cables having a plurality of flat flexible electrical signal lines surrounded by an insulating material.

Claim 59

Dependent Claim 39 words

54 . The electro-mechanical strap stack of claim 53 , wherein the flat metal drive strap is a multi-ply metal drive strap including a plurality of flat metal layers stacked upon each other and coupled together at each end.

Claim 60

Dependent Claim 17 words

55 . The electro-mechanical strap stack of claim 54 , wherein each flat metal layer is steel.

Claim 61

Dependent Claim 36 words

56 . The electro-mechanical strap stack of claim 54 , wherein the plurality of flat metal layers are coupled together at a first end by a tab and at a second end by a tensioning block.

Claim 62

Dependent Claim 26 words

57 . The electro-mechanical strap stack of claim 54 , wherein the plurality of flat metal layers are coupled together at each end by a tab.

Claim 63

Dependent Claim 25 words

58 . The electro-mechanical strap stack of claim 55 , wherein the flat metallic ground strapping includes a plurality of flat beryllium copper (BeCu) layers.

Claim 64

Dependent Claim 57 words

59 . The electro-mechanical strap stack of claim 53 , wherein the one or more flat flexible signal cables are pinched against the ground strapping at the first driver pulley by a first clamp near a first end and pinched against the ground strapping at the second driver pulley by a second clamp near a second end.

Electro-mechancial strap stack in robotic arms

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