Patent ID: 9579806
Date: 2017-02-28
CPC Classifications: B25J,Y10T

Claim:
1. A method of conveying power and signals in a robot system comprising a joint including a plurality of mechanical elements configured for relative motion therebetween, and, 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 and (ii) each of the sub-cables is insulated and separable from all other sub-cables to accommodate a space within the joint, the method comprising: separating at least one sub-cable from other sub-cables by cutting along a thinned insulating divider therebetween without electrically affecting any of the sub-cables; making at least one of a mechanical or an electrical connection between the separated sub-cable and at least one joint-associated component for conveying signals and power thereto, the at least one of a mechanical or an electrical connection being made at an intermediate point along the cable spaced away from both ends of the cable; separating at least one second sub-cable, different from the at least one sub-cable, from other sub-cables by cutting along a thinned insulating divider therebetween without electrically affecting any of the sub-cables; making at least one of a mechanical or an electrical connection between the separated second sub-cable and at least one second joint-associated component for conveying signals and power thereto, the second joint-associated component being different from the joint-associated component; conveying signals and power via the sub-cables; and causing relative motion between mechanical elements of the joint, the cable and the connected sub-cables not mechanically interfering with the relative motion, wherein a separated length of the at least one sub-cable is different from a separated length of the at least one second sub-cable.