Robotic power and signal distribution using laminated cable with separator webs

Abstract

Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub-cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.

What is claimed is: 
     
         1 .- 8 . (canceled) 
     
     
         9 . An electromechanical joint for a robot, the joint comprising:
 a plurality of mechanical elements configured for relative motion therebetween;   passing through the joint, a cable comprising a plurality of insulated sub-cables in a unitary flat configuration for conveying power and signals, wherein:   (i) the cable is slack within the joint to accommodate the relative motion;   (ii) each of the sub-cables is insulated and separable from all other sub-cables along at least a portion of a length of the cable; and   (iii) at least some of the sub-cables are only partially separated from the cable, via cuts along thinned insulating dividers disposed between the sub-cables, and the at least some of the sub-cables are electrically connected to at least one joint-associated component for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.   
     
     
         10 . The joint of  claim 9 , wherein separated lengths of at least two of the sub-cables are different from each other. 
     
     
         11 . The joint of  claim 9 , wherein each of the sub-cables is separated from a neighboring sub-cable by an insulating divider that extends between and contacts the sub-cable and the neighboring sub-cable. 
     
     
         12 . The joint of  claim 11 , wherein the insulating divider is made of expanded Teflon. 
     
     
         13 . The joint of  claim 11 , wherein a width of the insulating divider extending between neighboring sub-cables is greater than a height of the insulating divider, the height being perpendicular to the width. 
     
     
         14 . The joint of  claim 9 , wherein, along at least a portion of the cable, all of the sub-cables are physically accessible for removal from the cable and connection to a spatially separate location. 
     
     
         15 . The joint of  claim 9 , wherein, along an entirety of a length of the cable, all of the sub-cables are physically accessible for removal from the cable and connection to a spatially separate location. 
     
     
         16 . The joint of  claim 9 , wherein at least one of the sub-cables is electrically connected to a joint-associated component at an intermediate point along the cable spaced away from both ends of the cable. 
     
     
         17 . The joint of  claim 9 , wherein an entirety of a length of the cable within the joint is slack. 
     
     
         18 . The joint of  claim 9 , wherein total lengths of at least two of the sub-cables are different. 
     
     
         19 . The joint of  claim 9 , wherein at least one of the sub-cables comprises two conductors therewithin, the two conductors being insulated from each other but inseparable from each other. 
     
     
         20 . The joint of  claim 9 , wherein a length of the cable passing through the joint remains constant during relative motion of the plurality of mechanical elements. 
     
     
         21 . The joint of  claim 9 , wherein, along a second portion of the length of the cable, none of the sub-cables are partially or completely separated from the cable.