Robotic systems with routing stability mechanisms

Abstract

A system and related methods for operating a robotic system with a routing mechanism is disclosed herein. The routing mechanism may surround external components that extend across a link and connect to an end effector. The routing mechanism may include guides, brackets, or a combination thereof configured to maintain the external components along a predetermined path relative to the link, the end effector, one or more corresponding joints, or a combination thereof during movement of the link and/or the end effector.

What is claimed is: 
     
         1 . A robotic system, comprising:
 a robotic unit comprising:
 a base; 
 a link kinetically coupled to the base; 
 an end effector connected to a distal end of the link via a set of joints; and 
 external components extending along the link and connected to the end effector; and 
   a routing mechanism connected to the robotic unit and configured to maintain the external components along a predetermined path across movement of the link and/or the end effector, the routing mechanism comprising:
 a routing conduit generally extending along the link, across the set of joints, and to the end effector, wherein the routing conduit at least partially surrounds the external components; 
 a sliding conduit mount configured to provide a linear path for the routing conduit to traverse in reaction to a movement of the end effector; and 
 a set of guide brackets at least partially surrounding the routing conduit and located between the sliding conduit mount and the end effector along a kinetic chain of the robotic unit. 
   
     
     
         2 . The robotic system of  claim 1 , wherein:
 the routing conduit and the external components each have a length that corresponds to a maximum travel distance measured around the link and the end effector arranged in a threshold pose; and   the sliding conduit mount is biased to return a sliding bracket away from the distal end of the link and maintain a slack portion of the routing conduit away from the end effector, wherein the slack portion corresponds to a difference between the maximum travel distance and a current travel distance for a current pose of the link and/or the end effector.   
     
     
         3 . The robotic system of  claim 2 , further comprising:
 a twist joint kinetically coupled between the base and the link, wherein the twist joint is configured to rotate the link along a twist axis that extends through a center portion of the link and along the length of the link, wherein:
 the sliding conduit mount is attached to the link between the twist joint and the end effector, and 
 the slack portion extends across the twist joint. 
   
     
     
         4 . The robotic system of  claim 1 , wherein the set of guide brackets encircle the routing conduit without directly attaching thereto for maintaining the routing conduit within a predetermined distance from the link and/or the set of joints. 
     
     
         5 . The robotic system of  claim 1 , wherein the set of guide brackets is configured to curve the routing conduit at least partially around the set of joints. 
     
     
         6 . The robotic system of  claim 1 , further comprising:
 a conduit stability mount attached to one or more structures in the end effector and/or the set of joints, the conduit stability mount configured to provide a basis for controlling a pose of the routing conduit across movement of the link and/or the end effector, the conduit stability mount having a first protrusion and a second protrusion extending away from each other at an angle less than 180 degrees.   
     
     
         7 . The robotic system of  claim 6 , wherein the set of guide brackets comprises:
 a fixed bracket located at or over a distal half of the link; and   a pivotable bracket attached to the conduit stability mount and opposite the fixed bracket across the set of joints along the kinetic chain, the pivotable bracket configured to pivot around a twist axis;   wherein the fixed bracket and the pivotable bracket are configured to curve the routing conduit at least partially around the set of joints based on a relative orientation between the link and the end effector.   
     
     
         8 . The robotic system of  claim 7 , wherein the set of guide brackets comprises a distal joint bracket attached to a structure in the set of joints and between the fixed bracket and the pivotable bracket, wherein the distal joint bracket is configured to maintain the conduit stability mount at or about a predetermined location relative to the set of joints regardless of a relative orientation between the link and the end effector. 
     
     
         9 . The robotic system of  claim 7 , wherein:
 the set of guide brackets further comprises a pivotable bracket attached to the second protrusion;   the conduit stability mount includes a guide opening attached to and/or integral with an end portion of the first protrusion, wherein:   the fixed bracket and the pivotable bracket are configured to curve the routing conduit at least partially around the set of joints and toward the end effector.   
     
     
         10 . The robotic system of  claim 9 , wherein:
 the set of guide brackets includes a terminal bracket attached at or within a predetermined distance from the end effector, the terminal bracket attached to a distal portion of the routing conduit that extends from the terminal bracket to the end effector and configured to fix the distal portion in a constant pose relative to the end effector; and   the terminal bracket and the guide opening are configured to keep the routing conduit extending away from the end effector and curve the routing conduit at least partially around the set of joints regardless on a relative orientation between the link and the end effector.   
     
     
         11 . The robotic system of  claim 1  wherein the set of guide brackets are configured to fix the routing conduit in a u-shape between the sliding conduit mount and the end effector. 
     
     
         12 . The robotic system of  claim 11  wherein the set of guide brackets comprise:
 a first fixed bracket coupled to the routing conduit at a first top portion of the u-shape; 
 a second fixed bracket coupled to the routing conduit at a bottom end of the u-shape; and 
 a pivotable bracket coupled to the routing conduit at a second top portion of the u-shape. 
 
     
     
         13 . The robotic system of  claim 11  wherein the sliding conduit mount comprises a sliding bracket connected to a rail mechanism, wherein:
 the sliding bracket is affixed to a portion of the routing conduit and is configured to move along the linear path based on the rail mechanism, and 
 the linear path is parallel to a length of the link. 
 
     
     
         14 . The robotic system of  claim 13  wherein the sliding bracket is movable along the linear path between a first position and a second position, and wherein the sliding bracket is biased toward the first position to retract slack in the routing conduit away from the end effector. 
     
     
         15 . A robotic system, comprising:
 a robotic unit comprising:
 a base; 
 one or more links kinetically coupled to the base; 
 an end effector connected to a distal end of a distalmost link; and 
 a set of connectors extending along the one or more links and connected to the end effector; and 
   a routing device connected to the robotic unit and configured to maintain the set of connectors along a predetermined path across movement of the one or more links and/or the end effector, the routing device comprising:
 a routing conduit configured to the one or more links to the end effector; 
 a sliding conduit mount configured to provide a linear path for the routing conduit to traverse in reaction to a movement of the end effector and/or the one or more links; and 
 a set of guide brackets at least partially surrounding the routing conduit and located between the sliding conduit mount and the end effector along a kinetic chain of the robotic unit. 
   
     
     
         16 . The robotic system of  claim 15 , further comprising:
 a conduit stability mount attached to one or more structures in the end effector, the conduit stability mount configured to provide a basis for controlling a pose of the routing conduit across movement of the end effector and/or the one or more links, the conduit stability mount having a first protrusion and a second protrusion extending away from each other at an angle less than 180 degrees.   
     
     
         17 . The robotic system of  claim 15  wherein the sliding conduit mount comprises a sliding bracket connected to a rail mechanism, wherein:
 the sliding bracket is affixed to a portion of the routing conduit and is configured to move along the linear path between a first position and a second position, wherein the sliding bracket is biased toward the first position to retract slack in the routing conduit away from the end effector, and 
 the linear path is parallel to a length of the one or more links, wherein. 
 
     
     
         18 . The robotic system of  claim 15  wherein the set of guide brackets are configured to fix the routing conduit in a u-shape between the sliding conduit mount and the end effector. 
     
     
         19 . A method of assembling a routing device for set of connections in a robotic system, the method comprising:
 at least partially surrounding a set of connections with a routing conduit that extends along a link, across a set of joints, and to an end effector of the robotic system;   providing a linear path along at least a portion of a length of the link for adjusting the routing conduit across movement of the link and/or the end effector;   providing a constant force on the routing conduit along the length of the link and away from the end effector for maintaining the routing conduit or any slack therein away from the end effector; and   providing a set of guide locations between the linear path and the end effector, the set of guide locations for maintaining the routing conduit at or within a threshold distance from one or more corresponding locations on the link, the set of joints, and/or the end effector.   
     
     
         20 . The method of  claim 19 , wherein:
 providing the linear path includes attaching a sliding conduit mount to the link and a portion of the routing conduit for guiding the attached portion of the routing conduit along the linear path while a travel distance for the set of connections changes around the set of joints in response to the movement of the link and/or the end effector; and   providing the set of guide locations includes coupling a set of guides to the link, the set of joints, and/or the end effector for providing pass-through locations for the routing conduit while the travel distance for the set of connections changes in response to the movement of the link and/or the end effector, wherein the pass-through locations are located fixed relative to the one or more corresponding locations on the link, the set of joints, and/or the end effector.