Patent ID: 11950867
Assignee: BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA
Field: Handling (Mechanical engineering)
Classification: CPC A  B  F | IPC A  B

Claim 5:
6. A robotic device of comprising:
(a) an elongate device body comprising:
(i) a proximal section comprising a proximal section diameter;
(ii) a distal section comprising a distal section diameter, wherein the distal section diameter is less than the proximal section diameter; and
(iii) first and second motors disposed within the device body;

(b) a first driveshaft operably coupled to the first motor;
(c) a second driveshaft operably coupled to the second motor, the second driveshaft operably coupled at a distal end to a first bevel gear;
(d) a shoulder joint comprising:
(i) a differential yoke rotationally coupled to the first driveshaft, the differential yoke comprising a yoke body and a yoke lumen defined in the differential yoke, wherein the lumen has a longitudinal axis that is transverse to the longitudinal axis of the yoke body; and
(ii) a dual shaft rotatably disposed within the yoke lumen, the dual shaft comprising:
(A) a rotational shaft rotatably disposed within the yoke lumen, the rotational shaft rotationally coupled to the first bevel gear; and
(B) an extension shaft extending from the rotational shaft such that a longitudinal axis of the extension shaft is transverse to a longitudinal axis of the rotational shaft; and

(iii) an output body rotatably disposed around the extension shaft such that the extension shaft is rotatably disposed within a lumen of the output body,
wherein the shoulder joint is an in-line joint that is collinear with the distal section; and

(e) an arm operably coupled to the output body.