A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot

Ambrose, Robert O.

NASA Technical Reports Server

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(12) United States Patent ( io)  Patent No.: US 6,543,307 B2 
Ambrose (45) Date of Patent: Apr. 8,2003 
ROBOTIC SYSTEM 
Inventor: Robert 0. Ambrose, Houston, TX (US) 
Assignee: Metrica, Inc., Princeton, NJ (US) 
Notice: Subject to any disclaimer, the term of this 
patent is extended or adjusted under 35 
U.S.C. 154(b) by 0 days. 
Appl. No.: 09/827,449 
Filed: Apr. 6, 2001 
Prior Publication Data 
US 200210144565 A1 Oct. 10, 2002 
Int. C1.7 ................................................. B25J 19/06 
U.S. C1. ................................ 74/490.03; 741490.01; 
901149 
Field of Search ......................... 741490.01, 490.03; 
901127, 49, 50 
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4,777,868 A * 1011988 Larsson ......................... 92/42 
4,802,815 A * 211989 Funabashi et al. .......... 4141680 
4,886,361 A 1211989 Furstenau 
4,904,514 A * 211990 Morrison et al. ........... 4141728 
4,932,919 A 611990 Shapero 
4,944,755 A * 711990 Hennequin et al. ...... 623118.11 
4,999,849 A * 311991 Grilliot et al. ................. 21123 
5,015,421 A 511991 Charkoudian 
5,038,488 A * 811991 Abramowky et al. ......... 331501 
5,155,423 A 1011992 Karlen et al. 
5,182,557 A 111993 Lang 
5,513,992 A 511996 Refait 
5,568,957 A 1011996 Haugs 
5,761,965 A * 611998 Dahlquist ................ 741490.01 
5,901,756 A * 511999 Goodrich .................... 1381110 
6,039,068 A * 312000 Tessier et al. .............. 1371377 
6,082,290 A * 712000 Conlin ....................... 1181326 
6,267,022 B1 * 712001 Suzuki .................... 741490.01 
6,279,412 B1 * 812001 Beaulieu et al. ......... 741490.01 
FOREIGN PATENT DOCUMENTS 
JP 363065973 * 1212000 
OTHER PUBLICATIONS 
Japanese Patent Translation of JP9,254,076A. 
* cited by examiner 
Primary Examine rqav id  A. Bucci 
Assistant Examiner-Julie K. Smith 
(74) Attorney, Agent, or Firm-Watts Hoffmann Fisher & 
Heinke 
(57) ABSTRACT 
A robot having a plurality of interconnected sections is 
disclosed. Each of the sections includes components which 
are moveable relative to components of an adjacent section. 
A plurality of electric motors are operably connected to at 
least two of said relatively moveable components to effect 
relative movement. A fitted, removable protective covering 
surrounds the sections to protect the robot. 
8 Claims, 2 Drawing Sheets 
40 
https://ntrs.nasa.gov/search.jsp?R=20080005196 2019-08-30T03:07:19+00:00Z
U S .  Patent Apr. 8,2003 Sheet 1 of 2 US 6,543,307 B2 
U S .  Patent Apr. 8,2003 Sheet 2 of 2 US 6,543,307 B2 
US 6,543,307 B2 
1 2 
ROBOTIC SYSTEM motors are operably interposed between the sections to 
effect relative motions. Bearinged outer rings are mounted 
externally at ends of the robot and preferably also at joints 
between adjacent sections. 
A protective outer, preferably fabric, flexible covering is 
provided. The covering is constructed to closely fit around 
and cover the robot. Hook and loop fasteners are provided 
to affix the covering to the bearinged outer rings to surround 
the robot as a close protective covering, fitted to permit full 
10 manipulation of the robot without interference with that 
manipulation. 
The robot with its covering has a number of unique 
features. Cables are readily routed externally of the robot 
and maintained in appropriate positions by the removable 
are now relatively widely used. While they have been widely 15 covering, since the covering is readily removable, servicing 
shortcomings. and rapidly achievable. Moreover, the system enables the 
One problem that has been recognized, is that a robot may cables to have bends of relatively large radii to enhance 
require protection while working in certain environments. cable life as the robot is cycled through its articulating 
While there have been proposals to provide protective 2o functions. 
coverings in such environments, such proposals have been Sensors are selectively mounted on the removable cov- 
in the nature of afterthoughts providing loose coverings ering or &in, This enables such things as detection of a 
Other problems that exist include making appropriate 25 early detection facilitates avoidance of an actual collision of 
the robot itself with an adjacent object and hence protection 
This invention was made with government support under 
contract NAS9-97016 awarded by NASA. The government 
has certain rights in this invention. 5 
TECHNICAL FIELD 
This invention relates to robots and particularly to a 
robotic system which is especially suited for use in appli- 
cations in outer space. 
BACKGROUND OF THE INVENTION 
Mechanical robots for effecting manipulative functions 
used, Prior robots for many applications have significant of existing cabling or addition of further cabling is readily 
which are by no means optimized solutions to the Problem. potential collision with a Sensor supported by the skin. Such 
provisions for external cable routing and mounting of sen- 
sors external to the robot. Prior systems with external cables 
Or sensors, have been to damage through 
engagement with Other devices Or personnel. Moreover, 
of the robot and the object from damage. 
The provision of a system designed to have interchange- 
able flexible coverings enables selective change of the 
such external cables and/or sensors have, too often, failed to 3o external appearance of the robotic system. Thus, if a robot 
provide full operational flexibility which might otherwise be is to be remotely controlled through visual observation, a 
achieved. covering having an appearance optimized for that visual 
Moreover, cables more typically are internally routed observation is readily available. Moreover, since the cover- 
through tight passages and bends with small radii among ing is, as contrasted with the prior art, tailored for a close and 
other things making cable servicing or upgrades difficult. 35 repeatable fit, remote visual control can be more accurate 
Moreover, access to such cables for maintenance is limited than would be possible, had it occurred with prior proposals 
and difficult. for coverings, since those prior coverings were loosely 
There are applications where it is desirable to provide retrofitted. 
visual servoing techniques for, for example, remote control Where contamination of the robot by the ambient atmo- 
operation of a robot. The ability to use such visual servoing 40 sphere or vice versa is to be protected against, a novel three 
techniques has in the past been limited because shinny layer skin or covering is provided. The three layers define 
box-like structures are difficult to detect and precisely locate two chambers. An outer chamber between an outer and 
due to their inherent reflectivity. central layer is positively pressurized for rejecting environ- 
Contaminants can be a problem in space and other appli- mental contamination. The outer chamber may also be used 
cations. Prior proposals to protect robots against contami- 45 for heating or cooling in thermally harsh environments. The 
nants from their ambient environments have enjoyed limited inner chamber between the inner layer and the central layer 
success. Moreover, protection of a robot’s environment from is evacuated to discharge any contaminants coming either 
contamination by the robot has largely been ignored. from the ambient atmosphere or from the robot itself. 
Prior robots, particularly large ones, can be dangerous for When a chamber in the covering is used for thermal 
humans working nearby. Further, they are susceptible to 50 protection, the protection can be achieved by circulating air 
damage being caused by impacts between such robots and through the chamber. Further, the covering may be radiation 
nearby structures. Heretofore, little has been done to deal reflective to protect against solar energy either directly from 
with these dangers other than those persons operating or the sun or as reflected back by the earth to a robot being 
near to robots exhibiting great care. operated in space. 
The preferred covering of the robotic system is a soft 
thermally from harsh cold and hot environments. As a fabric equipped with padding to protect persons working 
consequence, applications in thermally harsh environments near the robot from injury. The padding also limits damage 
have been limited. to the robot and a nearby object in the event of a collision 
system which overcomes the described and other shortcom- Accordingly, the objects of the invention are to provide a 
ings of prior robot systems. novel and improved robotic system and a method of using 
such a system. 
With prior robots, little has been done to protect a robot 55 
Accordingly, it would be desirable to provide a robotic 6o between the robot and the Object. 
SUMMARY OF THE INVENTION 
BRIEF DESCRIPTION OF DRAWINGS 
A robotic system constructed in accordance with the 65 
present invention has a plurality of interconnected and FIG. 1 is an elevation view of a robot with the novel and 
relatively moveable sections. Electric, preferably DC, improved covering of this invention shown in cross-section; 
US 6,543,307 B2 
3 4 
FIG. 2 is a sectional view of a modified covering having 
FIG, 3 is a sectional view of the device as Seen from the 
FIG. 4 is an enlarged fragmentary perspective view of an 
44 are effective to secure the cover 14 to itself from end to 
end. Once the fasteners 25 and 44 are secured, the cover is 
a tubular covering encircling both the base 16 and the 
cantilever arm sections 15 while extending from the arm end 
ring 2o to the base ring 22. 
Although the invention has been described in its preferred 
form with a certain degree of particularity, it is understood 
that the present disclosure of the preferred form has been 
made only by way of example and that numerous changes in 
10 the details of construction, operation and the combination 
ing from the spirit and scope of the invention as hereinafter 
claimed, 
two internal chambers; 
plane indicated by the lines 3-3 of FIG. 1; and, 
end section of the covering. 
BEST MODE FOR CARRYING OUT THE 
INVENTION 
Referring to the and in particular, the and arrangement of parts may be resorted to without depart- 
robotic system of the present invention is shown generally at 
10. The system includes a robot shown generally at 12 and 
a covering 14. The robot 12 includes a plurality of relatively 
moveable sections 15 forming an arm. The arm is cantilever 1s 
mounted on a base 16. A plurality of DC motors 18 are 
provided. 
Each of the motors 18 is interposed between a pair of 
adjacent sections to effect relative movement between the 
sections. In the embodiment of FIG. 1 that movement is 20 
articulation about the axes of he motors 18. 
An end ring 20 is journaled on an end section 15E. As the 
Similarly, a base ring 22 is journaled on a base section 24. 
The covering 14 is connected to the end and base rings 20, 2s 
22 by hook and loop fasteners shown best at 25 in FIG. 4. 
Thus, if the end section 15E is rotated, or the robot 12 is 
rotated about the axis of the base section 24, the cover 14 
maintains a fixed position relative to the robot 12 due to the 
bearings journaling the end and base rings 20, 22. 
Preferably, the cover 14 is also connected to an interme- 
also journaled on the robot 12, so that manipulative motions 
can be achieved while the rings and covering remain in fixed 
relative positions and the covering is maintained in its close 3s evacuatable. 
association with the robot 12. 
In FIG. 2, a cross-section of an alternate covering embodi- 
ment is shown. The FIG. 3 embodiment has outer layers 28, 
30 and a central layer 32. The outer and central layer 28,32 4o 
30,32 define a second chamber 36. Hot or cool air may be 
circulated through one of the chambers, respectively, to 
protect the robot 12 from cold or hot environments. The 
other of the chambers may be evacuated. Thus, contami- 4s 
nants collected in the other chamber can be withdrawn from 
the covering by a suitably attached vacuum source. Further, 
where contamination is a problem, air may be circulated 
through the outer chamber to collect and evacuate contami- 
nants. 
One of the outstanding features of the covering 14 is that 
it enables cabling to be mounted externally of the robot and 
held in place by the cover. This advantage is illustrated by 
the showing of a conductor 38 in FIG. 1. Similarly, the 
covering 14 carries sensors. One such sensor is illustrated 5s 
schematically at 40 in FIG. 1 with a lead 42 running from it. 
As is best understood by reference to FIGS. 3 and 4, the 
covering 14 is a wrap around covering which is secured to 
the end rings 20, 22 by hook and loop fasteners 25. 
What is claimed is: 
1, A robot comprising: 
a) a body including a plurality of relatively moveable 
sections; 
b) prime movers each operably connected to at least two 
of the sections for selectively effecting relative move- 
ment of the connected sections; 
c) a plurality of rings carried by the body; 
section 15E rotates, the end ring 20 will remain stationary, dl Of the rings being positioned in spaced 
respectively near opposite ends of the body; 
e) a flexible covering surrounding at least a portion of the 
body and connected to the two rings respectively near 
the opposite ends of the body; and, 
f )  the covering being fitted to the body intermediate the 
ends and the covering includes an internal chamber. 
2. The robot of claim 1 wherein the covering includes a 30 
pair Of chambers. 
diate section ring 26. The intermediate section rings 26 are 3. The robot Of wherein One Of they chambers is 
and the Other is evacuatable. 
4. The robot of claim 1 wherein the covering chamber is 
5 .  The robot of claim 1 wherein the covering chamber is 
6. A process of covering a robot having a plurality of 
inflatable. 
relatively moveable sections comprising: 
define a first chamber 34, while the outer and central layers Outer surfaces Of the robot by 
covering the robot with a flexible cover tailored to fit 
the robot; 
b) securing the cover to the robot at least near spaced ends 
of the robot whereby the robot is substantially covered 
by the cover; and, 
c) inflating a chamber formed in the cover. 
7. The process of claim 6 further including evacuating 
8. A process of covering a robot having a plurality of 
a) substantially surrounding outer surfaces of the robot by 
covering the robot with a flexible cover tailored to fit 
the robot; 
b) securing the cover to the robot at least near spaced ends 
of the robot whereby the robot is substantially covered 
by the cover; and, 
another chamber formed in the cover. 
so 
sections 
c) evacuating a chamber formed in the cover. 
Similarly, longitudinally extending hook and loop fasteners * * * * *  


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