ROBOTICS SKIN SYSTEM WITH INTEGRAL ELASTOMERIC LINKS TO COMPLETE MECHANICAL LINKAGES

Number: 20200171669
Published: 2020-06-04
Filed: 2018-12-03
Assignee: DISNEY ENTERPRISES, INC.
Inventors: JACKSON; PHILIP JOHN, CAMILL; TODD P., MARTIN; ANTHONY D.
CPC: F16H21/44; B25J11/0015; B25J19/0075; B29C39/10; A63H3/365; A63H3/36; B25J9/0012
Verdict: High Hardware
Source: Google Patents · FreePatentsOnline

The keeper's note

Robotics skin system with elastomeric mechanical linkages for animatronics.

Abstract

A skin or skin system for a robot or robotics assembly is provided that includes one or more integral elastomeric links (or bars) (“IELs”) that are configured for receiving and connection with coupling elements or members (e.g., pivot pins) at the ends of mechanical links/bars. The IELs are also configured to act as a final link of a mechanical linkage made up of these mechanical links to provide a closed chain. For example, the body of each of the IELs, or a portion of the IEL body extending between connection points with the coupling elements of the links/bars of the mechanical linkage, provides a final link in a mechanical linkage forming a closed chain to allow it properly function.

Background

BACKGROUND1. Field of the Description

The present description relates, in general, to designs for creating realistic skin or skin systems for robots or for use with robotics or other applications in which skin or similar coverings are applied (e.g., robotics used to simulate movement of a human's or a character's face, hands, or other body parts). More particularly, the description is directed to skin systems or skins for applying over robotics (and fabrication methods and completed robots/robotics devices with such skins) that facilitate connection of the skin systems/skins to robotic actuators or drivers and particularly to coupling members (e.g., pivot pins) at the ends of links/bars of mechanical linkages of the robotics (or its drivers or actuators) used to drive or animate the skin systems/skins. Preferably, the new skin systems/skins are designed to enhance durability of the skin systems/skins while also providing more realistic skin movements such as facial expressions or movement while the character is “speaking” (e.g., providing natural lip, mouth, and surrounding facial feature movement when a robotic head is operated to simulate speaking).2. Relevant Background

Durable materials that are often also flexible and elastic such as plastics and rubbers are used in many applications to create coverings or skins that are applied over an internal physical support structure or skeleton. For example, skins or skin systems are used to create realistic models of h

Claims

1. A skin-covered robotic apparatus, comprising: a robotics assembly including a mechanical linkage comprising a first link with a first coupling element and a second link with a second coupling element; and a skin system comprising a layer of flexible material with an outer surface and an inner surface, wherein the skin system is applied over the robotics assembly with the inner surface facing the mechanical linkage, wherein the skin system further comprises an integral elastomeric link (IEL) with a body embedded in and integrally bonded to the flexible material of the layer of the skin system, wherein the first and second coupling elements are connected to the body of the IEL, and wherein the body of the IEL provides a third link of the mechanical linkage. 13. A skin-covered robotic apparatus, comprising: robotics with a driver adapted to drive a mechanical linkage, wherein the mechanical linkage includes a first rigid link with a first coupling element on an unattached end and a second link with a second coupling element on an unattached end; and a skin comprising a thickness of elastomeric material with an outer surface and an inner surface, wherein the skin is applied over the robotics assembly with the inner surface facing the mechanical linkage, wherein the skin further comprises an integral elastomeric link (IEL) with a body embedded in and integrally bonded to the elastomeric material the skin, wherein the first and second coupling elements pivotally coupled with the body of the IEL, and wherein the body of the IEL provides a third link of the mechanical linkage and moves with the first and second links in response to the driver operating to drive the mechanical linkage, whereby the mechanical linkage has a closed chain when the first and second coupling elements are connected to the body of the IEL. 17. A method for fabricating a skin-covered robotic apparatus, comprising: providing a mold core with an exterior surface defining an inner surface of a skin system, wherein the exterior surface comprises a mounting element; to the mounting element, attaching an IEL, wherein the IEL comprises a body formed of an elastomeric material; positioning the mold core within an exterior skin mold, wherein a cavity is formed between the exterior surface of the mold core and inner surfaces of the exterior skin mold that defines a topography and dimensions of the skin system; filling the cavity with a volume of a skin-forming material; after the skin-forming material hardens to form the skin system, removing the skin system from the mold core including detaching the IEL from the mounting element; and after the removing, attaching the skin system to a robotics assembly by connecting the IEL to a first pivot pin on a first link of a mechanical linkage of the robotics assembly and to a second pivot pin on a second link of the mechanical linkage, wherein the IEL is integrally bonded within the skin system, and wherein the first and second pivot pins are pivotally supported within the body of the IEL to form a closed chain for the mechanical linkage.