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 6:
7. A robotic device comprising:
(a) an elongate device body comprising first, second, and third motors disposed within the elongate device body;
(b) a first driveshaft disposed through the elongate device body and operably coupled to the first motor;
(c) a second driveshaft disposed through the elongate device body and operably coupled to the second motor, the second driveshaft operably coupled at a distal end to a first shoulder gear;
(d) a third driveshaft disposed through the elongate device body and operably coupled to the third motor, the third driveshaft operably coupled at a distal end to a second shoulder gear;
(e) a shoulder joint comprising:
(i) a differential yoke rotationally coupled to the first driveshaft, the differential yoke comprising a yoke lumen defined in the differential yoke; and
(ii) a T shaft rotatably disposed within the yoke lumen, the T shaft comprising:
(A) a rotational shaft rotatably disposed within the yoke lumen, the rotational shaft rotationally coupled to the first shoulder gear; and
(B) an extension shaft extending from the rotational shaft;

(iii) an output body rotatably disposed over the extension shaft, the output body rotationally coupled to the second shoulder gear,
wherein the first shoulder gear defines a radial outer limit of the shoulder joint; and

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