Patent Publication Number: US-2021178922-A1

Title: Systems and Methods for Side-Body Charging of Electric Vehicles

Description:
TECHNICAL FIELD 
     The present disclosure relates to charging systems and methods for electric vehicles (EVs) and, more particularly, to systems and methods for effecting an electrical connection between a vehicle charger and the electric vehicle. 
     BACKGROUND 
     Use of EVs is becoming increasingly popular due to the environmental benefits of removing pollution caused by fossil fuel burning vehicle engines from the environment, especially in densely populated urban environments. As with most mobile electrical devices, EVs carry electrical power storage devices or batteries, which provide power to the vehicle propulsion and other systems. As can be appreciated, the vehicle batteries require periodic recharging to provide consistent vehicle operation. 
     At present, EV recharging is a time consuming process that is typically carried out over long periods, for example, overnight or during prolonged periods when the electric vehicle is parked. Power dispensers include flexible conduits or wire bundles that include a connector at their end, which plugs into a vehicle receptacle and then begins the transfer of power from the dispenser the vehicle&#39;s battery. 
     Traditional vehicle power dispensers operate at around 200-240 Volt AC, and transfer about 30 Amp of electrical power into a vehicle. As a consequence, providing a full charge to a vehicle can take up to 10 hours or more. With the increase in popularity of EVs, faster charging solutions which are easier and safer to operate, and which can be retrofitted into existing fully electric or hybrid vehicles and facilities are required. 
     SUMMARY OF THE DISCLOSURE 
     The below-described systems and methods for side-body charging of EVs provide space- and cost-efficient mechanisms for efficient, reliable and safe charging operations. As compared to known systems and methods, the embodiments disclosed herein provide a number of technical benefits and user advantages in a wide variety of operational environments ranging from home use to commercial contexts. By employing simple yet robust components and other design elements, the disclosed systems and methods for side-body charging or EVs are easy to maintain and they may be cost-effectively retrofitted into existing EVs and facilities. 
     Devices, systems, and methods for EV charging are disclosed. Charging devices include a base and at least one vertical rail coupled to the base and extending upward therefrom, and at least one slide engaged with the rail(s). Single rail charging devices include at least two slides engaged with the rail. Charging devices having at least two rails include at least one slide engaged with each of the rails. A connector unit having a first end and a second end is pivotably coupled to a plurality of elongate support arms at portions of the second end. An opposite end of each support arm is pivotably coupled to individual slide(s). The disclosed devices, systems and methods enable accurate and precise positioning of charger electrical connectors for mating engagement with vehicle electrical connectors for EV charging. Automation and/or robotic features are integratable into the disclosed charging devices, systems and methods for hands-free operation in a variety of residential and commercial EV charging environments. 
     In one aspect, the disclosure describes a device for charging of an EV including a vehicle electrical connector. The device includes a base positioned on or in a ground surface and a vertical rail coupled to the base and extending vertically upward from the base. The device includes a pair of slides engaged with the rail. The device includes a connector unit having a first end and a second end. The device includes a pair of elongate support arms. Each support arm of the pair of support arms is pivotably coupled to and between: one slide of the pair of slides, and one of two portions of the second end of the connector unit. 
     In another aspect, the disclosure describes a device for charging of an EV including a vehicle electrical connector. The device includes a base positioned on or in a ground surface and at least two vertical rails coupled to spaced portions of the base and extending vertically upward from the base. The device includes at least one slide engaged with each rail of the at least two rails. The device includes a connector unit having a first end and a second end. The device includes a plurality of elongate support arms. The support arms include at least one support arm pivotably coupled to and between the at least one slide engaged with a first rail of the at least two rails and a first portion of the second end of the connector unit. The support arms include at least one additional support arm pivotably coupled to and between the at least one slide engaged with a second rail of the at least two rails and a second portion of the second end of the connector unit. 
     In yet another aspect, the disclosure describes a method for charging of an EV. The method includes positioning a charger electrical connector of a charging device with reference to a mating vehicle electrical connector positioned proximal a side-body panel of the EV. The positioning step includes actuating the charger electrical connector from an initial position to a final position with the charger electrical connector matingly engaged with the vehicle electrical connector. The actuating step includes moving at least two slides coupled to the charger electrical connector by way of at least two support arms vertically along at least one rail of the charging device to selectively position the charger electrical connector at least one of: vertically, and radially, with respect to an axis of the at least one rail. The method includes inserting the charger electrical connector of the charging device into the mating vehicle electrical connector. The method includes initiating an EV charging process by selectively enabling a flow of electric current from an electric power supply through the matingly engaged charger and vehicle electrical connectors. 
     Further and alternative aspects and features of the disclosed principles will be appreciated from the following detailed description and the accompanying drawings. As will be appreciated, the principles related to devices, systems, and methods for side-body charging of EVs disclosed herein are capable of being carried out in other and different embodiments, and capable of being modified in various respects. Accordingly, it is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and do not restrict the scope of the appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of an electric vehicle (EV) charging environment according to an embodiment of the disclosure. 
         FIG. 2  is a flowchart of a method for side-body charging of EVs according to an embodiment of the disclosure. 
         FIGS. 3A-3F  are schematic diagrams of aspects of automated charging devices (ACDs) for side-body charging of EVs according to embodiments of the disclosure. 
         FIGS. 4A-4G  are schematic diagrams of aspects of the ACD of  FIGS. 3C-3E  in actuated positions according to an embodiment of the disclosure. 
         FIGS. 5A-5C  are schematic diagrams of aspects of the ACD of  FIGS. 3C-4G  in a tilted position according to an embodiment of the disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Reference will now be made in detail to specific embodiments or features, examples of which are illustrated in the accompanying drawings. Wherever possible, corresponding or similar reference numbers will be used throughout the drawings to refer to the same or corresponding parts. Moreover, references to various elements described herein, are made collectively or individually when there may be more than one element of the same type. However, such references are merely exemplary in nature. It may be noted that any reference to elements in the singular may also be construed to relate to the plural and vice-versa without limiting the scope of the disclosure to the exact number or type of such elements unless set forth explicitly in the appended claims. 
       FIG. 1  is a schematic diagram of a system  1  for charging an EV  4  in an EV charging environment  3  according to an embodiment of the disclosure. In the example shown in  FIG. 1 , an EV  4  is positioned on a ground surface  6 . EV  4  is a car, as shown in  FIG. 1 . Alternatively, EV  4  may be a truck, a motorcycle, a moped, a bus, a scooter, a farm implement or any other on- or off-highway vehicle. In the example shown, ground surface  6  is a floor of a garage or other vehicle storage facility of a home or business. Alternatively, ground surface  6  may be a surface of a parking lot. System  1  includes an automated charging device (ACD)  8  that is positioned, or is at least positionable, in, or proximal, charging environment  3 . In the illustrated example, ACD  8  is positioned on or, at least in part, beneath ground surface  6  and proximal a charging zone  9 . In one embodiment, charging zone  9  is at least a portion of a parking space of a parking facility like a parking lot or a garage. In another embodiment, charging zone  9  is at least a portion of a residential garage structure or driveway. 
     At least a portion of ACD  8  rises above ground surface  6  by a height that is sufficient to facilitate operation of the ACD  8  as disclosed herein. In other embodiments (not shown) all, or a part, of ACD  8  may be wall mounted or ceiling mounted. ACD  8  includes a connector unit  10  with a charger electrical connector  34 . At least a portion of connector unit  10  faces and is exposed or exposable to a space above charging zone  9 . Connector unit  10  of ACD  8  is operatively coupled to or associated with an electric power supply  5  (e.g., a utility grid), either directly or through a transforming, conditioning, and/or conversion device such as a transformer. Charger electrical connector  34  is coupled to, or is at least coupleable to, the power supply  5 . A first electric power flow  12  can thus be selectively enabled between the power supply  5  and the ACD  8 , including to connector unit  10 . In some embodiments, the first electric power flow  12  is selectively enabled between the ACD  8  and the power supply  5 , as where an EV  4  is supplying (e.g., selling back) electric power to the grid. 
     As used herein, the phrase “operably (or operatively) coupled (or connected),” refers to two or more functionally-related components being coupled to one another for purposes of translation and/or transfer of a mechanical force, a flow of electric current, and/or a flow of data signals. In the case of data communication, this coupling of the two or more components may be a wired connection and/or a wireless connection. 
     EV  4  includes a drivetrain  14  providing motive power to the EV  4  for driving. System  1  includes a vehicle unit  16  that is positioned, or is at least positionable, in, on, or proximal, a side-body panel  17  of the EV  4 . Vehicle unit  16  includes a vehicle electrical connector  38  that is coupled to, or is at least coupleable to, at least one power storage device  18  (e.g., a rechargeable battery) positioned in or on the EV  4 . Battery  18  is operatively coupled to drivetrain  14  for providing electric power thereto to enable providing motive power for EV  4  selectively during operation. Structures and systems of the EV  4  that accomplish the provision of power to the drivetrain  14  selectively by an operator (not shown) of the EV  4  are omitted for simplicity. 
     At least a portion of vehicle unit  16  faces the EV  4  side-panel  17  and is exposed or exposable to a space outside of the EV  4  (e.g., an EV exterior  19 ). Similarly, vehicle electrical connector  38  is positioned, or is at least positionable, to face the EV exterior  19 . It is noted that, while the EV  4  is shown in one orientation as it approaches the ACD  8  and charging zone  9 , any orientation of approach is also contemplated. Vehicle unit  16  is operatively coupled to battery  18  to provide an interface for providing electrical power to charge the battery  18 . A second electric power flow  20  is thus enabled between vehicle unit  16  and battery  18 . The charger electrical connector  34  is positioned, or is at least positionable, to matingly engage the vehicle electrical connector  38  in the charging environment  3 , to facilitate a flow of current (e.g.,  12 ,  20 ) between the power supply  5  and the power storage device  18  through the matingly engaged vehicle  38  and charger  34  electrical connectors for purposes of charging the power storage device  18 . 
     In the EV charging environment  3  shown in  FIG. 1 , EV  4  is being driven and approaches the charging zone  9  having the ACD  8  positioned proximal one side of the charging zone  9 . A driver of EV  4  (e.g., a human driver and/or an autonomous vehicle driving system, not shown in  FIG. 1 ) steers or otherwise controls the EV  4  to approach charging zone  9  along a centerline path  22 . As shown in  FIG. 1 , centerline path  22  extends from EV  4  to at least approximately a center point of charging zone  9  on ground surface  6 . Based on the particular dimensions and other specifications of EV  4 , charging zone  9 , ACD  8  including connector unit  10 , and/or vehicle unit  16 , an approach path of EV  4  to ACD  8  including connector unit  10  may deviate from the target centerline path  22  by an allowable deviation  24 . The allowable deviation may be in any direction, including but not limited to a horizontal or vertical direction. Allowable deviation  24  includes a driver side deviation  24   a  and a passenger side deviation  24   b . An allowable deviation angle  26  is defined between lines defining driver side deviation  24   a  and passenger side deviation  24   b . In three dimensions, the deviation angle  26  may form a conical area that accounts for height of vehicle unit  16  and/or ground clearance of the vehicle, as well pitch, yaw and roll of the vehicle&#39;s trajectory during the approach to the ACD  8 , and also during the connection and charging operations according, for example, to the disclosed embodiments. 
       FIG. 2  is a flowchart of a method  28  for side-body charging of EV  4  according to an embodiment of the disclosure. In an example, method  28  is implemented and performed, at least in part, by ACD  8 , which actuates connector unit  10  from a stationary (e.g., initial) position through a series of intermediate positions toward the vehicle unit  16  to facilitate a mating engagement (e.g., electrical connection) between charger electrical connector  34  and vehicle electrical connector  38  for charging when the EV  4  is stationary in the charging zone  9  proximal ACD  8 . 
     Referring to  FIG. 2 , method  28  includes positioning at  30  the charger electrical connector  34  of the charging device  8  with reference to the mating vehicle electrical connector  38  positioned proximal the side-body panel  17  of the EV  4 . Such positioning and/or placement may be carried out automatically, robotically and/or manually (by hand). Connector unit  10  includes a handle  29  to facilitate the manual positioning of connector unit  10  for performing the positioning step  30  by hand. The positioning step  30  includes actuating the charger electrical connector  34  from an initial position to a final position. In the initial position, and in intermediate position(s) between the initial and final positions, the charger electrical connector  34  is not matingly engaged with the vehicle electrical connector  38 . In the final position, the charger electrical connector  34  is matingly engaged with the vehicle electrical connector  38 . The actuating step includes moving at least two slides  56  coupled to the charger electrical connector  34  by way of at least two support arms  52  vertically along at least one rail  44  of the charging device  8  to selectively position the charger electrical connector  34  at least one of: vertically, and radially, with respect to an axis  15  of the at least one rail  44 . The method  28  includes inserting at  32  the charger electrical connector  34  of the charging device  8  into the mating vehicle electrical connector  38 . The charger electrical connector  34  is inserted at  32  into vehicle electrical connector  38  either simultaneously with, or after, connector  34  being positioned with reference to connector  38 . The handle  29  facilitates performance by an ACD  8  user of the inserting step  32  by hand. After the inserting step  32  to attain the final position of connector  34 , method  28  includes initiating at  33  an EV  4  charging process by selectively enabling a flow  12  of electric current from an electric power supply  5  through the matingly engaged charger  34  and vehicle  38  electrical connectors to charge battery  18 . The initiating step  33  may be performed automatically or manually (e.g., via a hand-operated switch, not shown). 
     Embodiments of devices and systems for side-body charging of EVs  4  are shown in  FIGS. 3A-5C  and described below.  FIGS. 3A-3F  are schematic diagrams of aspects of the ACD  8  for side-body charging of EVs  4 , including with the connector unit  10  in a stationary docked position  62 , in accordance with embodiments of the disclosure.  FIGS. 3A and 3B  provide perspective views of the ACD  8  having one rail according to embodiments of the disclosure. 
     Referring to  FIG. 3A , the ACD  8  includes a base  42  positioned on, in and/or coupled to the ground surface  6 . Base  42  provides a stable structure supporting the remainder of the various ACD  8  component parts, as described herein. At least one vertical rail  44  is coupled to or otherwise mounted to base  42 . Rail  44  extends vertically (e.g. upward in the z-direction) from a portion of the base  42 . In the illustrated embodiment, the rail  44  defines a 90 degree angle with respect to a plane defined by a top of the base  42 . In other embodiments, the rail  44  is positioned at an angle other than perpendicular to the base  42  plane. 
     In one embodiment, two slides  56  are positioned on the rail  44 , as shown in  FIG. 3A . The slides  56  are positioned on the rail  44  in a collar-like manner where the slides  56  have an inner space that is dimensioned to fit around a shape of the outer surface of the rail  44 . For instance, where rail  44  is a cylindrical or ovoid rod, slide  56  has an annular collar or collar-like shape having an inner diameter that is equal to or just slightly greater than (e.g., by &lt;1 mm) a diameter of the rail  44  such that slide  56  may be positioned at least partially around the rail  44 . In other embodiments, rail  44  is a rod having a square or rectangular, instead of a circular or ovoid, cross-section, and slides  56  correspondingly have a square or rectangular collar or collar-like shape. In some embodiments, the slides  56  are slidingly engaged with the rail  44  to facilitate manual (e.g., by hand) or automated (e.g., robotic and/or motorized actuation) movement in a linear fashion up and down along the rail  44  (vertical movements, V). 
     The ACD  8  (which may at times be referred to in this disclosure more succinctly as “device  8 ”) includes connector unit  10 . Connector unit  10  has a first end  7  and a second end  9  opposite the first end  7 . Charger electrical connector  34  is positioned at the first end  7  of connector unit  10 . An line or bundle of elongate conductor(s) (e.g., a cable, not shown) is coupled to and between charger electrical connector  34  and the power supply  5 . Such a cable may interface with the power supply  5  via mechanical and electrical components (not shown) in or on the base  42 . 
     An elongate support arm  52  is pivotably coupled to and between each slide  56  and a portion of the second end  9  of the connector unit  10 . For example, one end of a first support arm  52  is pivotably coupled to a first portion  21  of the connector unit  10  second end  9  by way of a first ball joint  60 , and an opposite end of the first support arm  52  is pivotably coupled to a portion of a first slide  56   a  by way of a first hinge  54 . Likewise, one end of a second support arm  52  is pivotably coupled to a second portion  23  of the connector unit  10  second end  9  by way of a second ball joint  60 , and an opposite end of the second support arm  52  is pivotably coupled to a portion of a second slide  56   b  by way of a second hinge  54 . In one embodiment, the support arms  52  are rigid and of a one-piece construction, which may be solid or at least partially hollow. In some embodiments, support arms  52  have equivalent lengths and/or widths/diameters, while in other embodiments, at least one support arm  52  has a length and/or width/diameter that is different as compared to at least one other support arm  52 . In some embodiments, portions of ball joints  60 , hinges  54 , support arms  52  and/or charger electrical connector  34  include compliance devices such as springs to allow for operational scenarios where portions of one or more of those ACD  8  components experience unintentional forces as in collisions or contact with objects in charging environment  3  other than the intended vehicle electrical connector  38  target. 
     In the illustrated embodiment of  FIG. 3A , the connector unit  10  includes a connector holder  58  positioned proximal the second end  9  of the connector unit  10 , where the connector holder  58  has the first  21  and second  23  portions to which the support arms  52  are attached via the ball joints  60 . The first  21  and second portions  23  are positioned adjacent (e.g., either vertically or horizontally) to one another. 
     In one embodiment, slides  56  are slidingly engaged to move linearly along an axis  15  of rail  44 . In another embodiment, in additional to being slidingly engaged with rail  44 , slides  56  are rotatably engaged with rail  44  to rotate about the rail  44  axis  15 . Additionally, or instead, the rail  44  may be rotatably coupled to the base  42 . In another embodiment (not shown), rail  44  includes a notch or slot formed along at least a portion of its vertical length and slide  56  includes a correspondingly shaped and dimensioned slot or notch formed in its inner collar surface. In such embodiments, slides  56  are not rotatable about the rail  44  axis  15 . Additionally, or instead, slides  56  are not freely slideable on rail  44 . For instance, rail  44  may include along at least a portion of its length a plurality of circumferentially formed and axially spaced notches or slots. These structures may extend from the rail  44  surface in an asymmetric manner. In those embodiments, slides  56  are moveable up and down along the rail  44  only in response to an applied force having a vector component directed at an angle of less than 90 degrees with respect to the rail  44  surface. Similarly, in examples where slides  56  are not freely slideable, inner surfaces of the collar or collar-like slides  56  may have notch- or slot-like structures extending from the inner surfaces, including asymmetrically. 
     Although the ACD  8  described with reference to the various disclosed embodiments is referred to using the “automatic” or “automated” descriptor, various design features of ACD  8  are also advantageously applied to manual non-automated/robotic/motorized EV  4  charging operations. For instance, embodiments with rail(s)  44  and/or slide(s)  56  having notches and/or slots on their inner surfaces facilitate “zero gravity” suspension of connector unit  10  in a desired position for use in EV  4  charging operations and/or for storage of connector unit  10  during times of non-use. A user need not have a very high level of strength, coordination and/or dexterity to operate device  8  in such cases. With a manually applied force (as by a light shaking of one support arm  52  while holding the other support arm  52  stationary), a slide  56  in such embodiments may be released and then moved, by hand, along rail  44 . A series of such manual steps permits the user to safely and effectively manipulate connector unit  10  to position  30  and insert  32  the charger electrical connector  34  into the vehicle electrical connector  38 . Embodiments having such zero gravity suspension-enabling features thus enable safe and ergonomically sound techniques for moving connector unit  10  by hand which is advantageous in use cases that do not include automation- and/or robot/motor-assisted actuation of slides  56 . Even where the cable is quite heavy (e.g., for high power applications such as commercial EVs like buses), a user may still safely and effectively connect and disconnect the connectors ( 34 ,  38 ) by hand. 
     ACD  8  includes one or more actuators  73  and a controller  75  in communication with the actuator(s)  73  and/or at least one actuation system  69 . In the example shown in  FIG. 3A , rail  44  is hollow and ACD  8  includes two chains (or cables or belts)  93 . The chains (or cables or belts)  93  are suspended by one or more pulleys  92  (e.g., free wheeling) positioned at an upper portion of the rail  44 . Each chain (or cable or belt)  93  includes a permanent magnet  91  coupled to it such that the magnet  91  moves cooperatively with the chain (or cable or belt)  93 . In one embodiment, slides  56  include paired magnets  91  on, or proximal, their inner collar surfaces to facilitate their linear sliding movement being bound to, and paired with, movements of the magnets  91  chains (or cables or belts)  91 . In another embodiment, the slides  56  are at least partially formed of a ferromagnetic material and do not include paired magnets  91  and the magnets  91  coupled to the chains (or cables or belts)  93  are alone sufficient to couple slide  56  movement to chain (or cable or belt)  93  movement. A first chain (or cable or belt)  93   a  is installed in rail  44  for the linear sliding movement of a first slide  56   a  and a second chain (or cable or belt)  93   b  is installed in rail  44  for the linear sliding movement of a second slide  56   b.    
     Actuator(s)  73  are positioned in the base  42 . Each actuator  72  is operably coupled to a respective pulley for driving the first  93   a  and second  93   b  chains (or cables or belts). The first  56   a  and second  56   b  slides are thus independently actuatable vertically up and down along rail  44  under command by the controller  75 . Motor driver circuitry and associated components (not shown) are included in ACD  8  for this purpose. In some embodiments, controller  75  includes an externally accessible control panel (not shown) including, for example, 3-position toggle switches, for a user of ACD  8  to manipulate to selectively and alternately command the movement of slides  56 . In the example shown in  FIG. 3A , the range of allowable actuated and/or manually sliding for slides  56  is limited by the lengths of support arms  52 , the length of rail  44 , and a present fixed position of a slide  56  other than the slide  56  being moved. 
     In other embodiments, the actuation system  69  of the various disclosed ACD  8  examples include alternative or additional components and actuator  73  types. Generally, actuators  73  may include electric motors and/or electric linear actuators. Motors and/or linear actuators may be DC and/or AC driven and may be of the stepper-type design. In one embodiment (not shown), the pulley(s)  92  and the chains (or cables or belts)  93  are positioned radially outside of the rail  44 , which then need not be a hollow rail  44 . In this embodiment, the chains (or cables or belts)  93  are coupled to a portion of the outer surface of the collar or collar-like slide  56 . In another embodiment (not shown), chains (or cables or belts)  93  are coupled to slide(s)  56  by way of an attachment or fastener that extends through an open rail  44  slot from the chain (or cable or belt)  93  positioned inside the hollow rail  44  to the inner surface of the collar or collar-like slide  56 . In yet another embodiment (not shown), at least a portion of the actuation system  69  and/or actuator(s)  73  is positioned at, in, on, and/or proximal, an upper portion of rail  44 . 
     In an embodiment (not shown), actuation system  69  includes a rack and pinion geared configuration. In this embodiment, rail  44  includes a rack of teeth positioned along at least a portion of the rail  44  length and extending radially outward from the outside surface of rail  44 . The collar or collar-like slide  56  includes a corresponding slot and is positioned on the rail  44  to engage with the rack via the slot. The slide  56  includes a pinion gear operably coupled to an actuator  73  motor to move the slide up and down the rail  44  under control of controller  75 . 
     In yet another embodiment (not shown), the rail  44  is or includes a threaded spindle and the inner surface of the collar or collar-like slide  56  is correspondingly threaded. In this embodiment, the slide  56  does not freely slide along rail  44 . Rather, the threaded slide  56  is positioned on the spindle rail  44  by being threaded onto the spindle rail  44 . For example, in this embodiment, a portion of slide  56  include a through-hole axially bored through a slide  56  wall at a radial distance from a center axis of the slide  56  (which corresponds to the axis  15  of rail  44  at such times when slide  56  is engaged with the rail  44 ). In the example, positioning the threaded slide  56  onto the threaded spindle rail  44  includes first threading the slide  56  onto the spindle rail  44  to a desired initial position, and then inserting a slide guide rod through the hole in the slide  56  and finally coupling the slide guide rod to the base  42  so that slide guide rod is parallel to rail  44 . In operation, in this embodiment, actuator(s)  73  selectively rotate the spindle rail  44  about axis  15  in clockwise and counter-clockwise directions. With the threaded slide  56  prevented from cooperatively rotating with the spindle rail  44  by the slide guide rod, the slide  56  will be responsively actuated vertically up or down along rail  44  depending on the direction of rotation of rail  44  by its respective actuator  73 . 
     In still another embodiment (not shown), actuation of slides  56  along rails  44  utilizes vibration-based motion components and techniques. In examples where the rail  44  is a spindle rail  44  or where rail  44  includes the circumferential slots or grooves, the meshing portions as between the rail  44  outer surface and the slide  56  inner surface have different pitch diameters. With, for instance, linear actuator(s)  73  positioned on or in the slide  56 , the slide  56  can be rocked back and forth in an oscillatory fashion to move up or down the rail  44  in an inch worm manner. 
     In some embodiments, the rails  44  are hollow and have alternating permanent magnets inside the hollow space inside rails  44  (e.g., attached to the inside of rail  44  walls). In an example embodiment, the collar or collar-like slides  56  include one or more conductor coils axially positioned in or on the slide  56 . In response to receiving a current, the coils have induced in them an alternating magnetic field which, depending on a direction of the current through the coil(s), causes the slide  56  to move up or down along rail  44 . In the example, slides  56  and rails  44  may be supplied in a prefabricated form for use in assembling ACD  8  including, without limitation, in the form of electromagnetic actuation devices supplied by Linmot®. These electromagnetic-type actuators  73  provide contactless actuation. Such contactless actuation techniques may be more compliant (e.g., when no power is supplied to actuator(s)  73 ) than other techniques such as geared systems and techniques where slides  56  are directly coupled to chains (or cables or belts). Thus, for instance, in the event of a power failure or other operational problem with ACD  8 , a user may manually manipulate the connector unit  10  out of the vehicle electrical connector  38  without experiencing burdensome counter forces on account of actuators  73 . 
     In some embodiments (not shown), force-limiting features may be included in the ACD  8  actuation system  69  and/or actuator(s)  73  to provide enhanced safety measures during operation. For example, once the charger electrical connector  34  of the connector unit  10  makes first contact with the vehicle electrical connector  38 , a vibratory force overlay can be applied to the insertion force so that the overall gross insertion force is lowered for effecting the mating engagement of connector  34  to connector  38 . 
     Referring to  FIG. 3B , in one embodiment, ends of the two support arms  52  opposite slides  56  are rotatably coupled to one another by way of an arm hinge  80 . In the embodiment, mount  58  is or includes an L-shaped bracket. A first end of the L-shaped bracket mount  58  is hingedly coupled to the arm hinge  80 . In the embodiment, ACD  8  includes a mount bar  82 . A first end of mount bar  82  is hingedly coupled to a second end of the L-shaped bracket mount  58  at a bar-to-mount hinge  84 . A second end of mount bar  82  is coupled to an arm slide  86 . Arm slide  86  is positioned on one of the two support arms  52  (the lower arm  52  in the example shown in  FIG. 3B ). In the embodiment, at least one of the two support arms  52  is at least partially hollow rather than of fully solid construction. The support arm  52  to which arm slide  52  is mounted includes axial arm slots  88  formed in opposite sides of the hollow portion of arm  52 . 
     In the embodiment, actuation system  69  includes a linear actuator  94  in communication with controller  75  and positioned in a portion of the interior of the at least partially hollow support arm  52 . This linear actuator  94  is coupled to a coupling  89  that is rotatably coupled to arm slide  86 . In the embodiment, at least a portion of arm slide  86  is formed as a U-shaped bracket. The coupling  89  extends from an inner surface of each leg of the U-shaped bracket arm slide  86  and through the slots  88 . The working end (e.g., the portion of linear actuator  94  that is movable linearly along an axis of support arm  52 ) is coupled to a portion of coupling  89  inside the hollow portion of the at least partially hollow support arm  52 . The portion of linear actuator  94  having the motor for moving the working end is positioned at a fixed location inside the hollow portion of the at least partially hollow support arm  52 . In another embodiment (not shown) linear actuator  94  and its means for coupling to arm slide  86  are positioned outside of the support arm  52  instead of being positioned in the interior of an at least partially hollow support arm  52 . 
     In operation, in the embodiment of  FIG. 3B , the controller  75  selectively and/or alternately causes linear actuator  94  to move the coupling  89 , and thus the arm slide  86 , linearly back and forth along the axis of the support arm  52  to position connector unit  10  at a desired tilt angle (e.g., angle A′ as shown in  FIG. 3A ) with respect to rail  44 . In the embodiment, the range of tilt angles for connector unit  10 , and thus for an orientation of electrical connector  34 , is limited by the length of the slots  88  and/or linear actuator  94 &#39;s range of motion. In another embodiment, device  8  does not include the mount bar  82  as described above with reference to  FIG. 3B . Rather, a portion of connector unit  10  (e.g., by way of mount  58 ) is hingedly coupled to the arm hinge  80  and a motor (e.g., a geared motor, not shown) is positioned either in or on that portion of connector unit  10  or mount  58 , or in or on at least one of the support arms  52  proximal arm hinge  80 . In this embodiment, the geared motor is in communication with controller  75 , which causes the geared motor to rotate connector unit  10  and/or mount  58  about arm hinge  80  to thereby position connector unit  10  at the desired tilt angle. In this embodiment, the tilt angles for connector unit  10  (and thus also electrical connector  34 ) may have a greater range of allowable values (e.g., greater than 180 degrees but less than 360 degrees) as compared to the embodiment illustrated in  FIG. 3B  since the rotation is not limited by slot  88  lengths or range of motion of linear actuator  94 . 
     In another embodiment (not shown in  FIGS. 3A and 3B ), ACD  8  includes two, rather than one, rail  44  coupled to spaced portions of the base  42 . For example, the spaced portions of the base  42  are positioned on opposite sides of the base  42 . In the embodiment, one slide  56  is positioned on each of the two rails  44 , where each slide  56  is actuated vertically up and down along the respective rails  44  by actuation system  69  according to, for example and without limitation, any of the above-described actuation methods and components. 
     Materials of construction and other specifications of rails  44 , slides  56 , hinges  54 , support arms  52 , ball joints  60 , connector holder  58 , pulley(s)  92 , chains (or cables or belts)  93 , magnets  91 , and any associated fasteners and/or welds (not shown) are preferably selected for an efficient balance of cost, durability, aesthetic appeal and corrosion resistance. In combination, such selections must meet the requirement that they be able to support the weight of at least the connector unit  10  and the attached power supply cable (not shown) for use with ACD  8 , both during movement and operational states of dynamic equilibrium. 
     In one embodiment, not shown, a flexible shroud covers the support arms  52  to prevent environmental egress and mitigate safety hazards during operation of device  8 , and to present an aesthetically pleasing appearance for device  8 . In device  8  embodiments having two pairs of slides  56 , four corners of a rectangular-shaped shroud may be mounted to each of the four slides  56 . Additionally, a portion of the shroud may be mounted to base  42  to provide greater coverage. In these embodiments, the shroud may be formed of a flexible material having elastic properties so as to not impede movements of the mechanical parts of device  8  during either manual or automated operation. As with planar portions of the base  42  that are visible to users and passerbies whether or not device  8  is being operated, shroud may be exploited by owners/operators of device  8  for advertising and/or promotional purposes in facilities where device(s)  8  is/are located. 
     In operation, the connector unit  10  is positionable in any position axially along the length of rail  44  (vertical movements, V), and radially with respect to rail  44  axis  15  (radial movements, R) out to a distance (r) that is limited by support arm  52  lengths and the angles (A) they can achieve relative to axis  15 . Such angles A are limited by the rail  44  length and the effective lengths of chains (or cables or belts)  93 . In the illustrated example, slides  56  are selectively and independently actuatable to achieve a connector unit  10  position that is tilted at an angle (A′) with respect to rail  44  axis  15 , which may be beneficial in cases where, for instance, an orientation of vehicle electrical connector  38  is tilted with respect to axis  15 . The tilted position of connector unit  10  is shown in greater detail in  FIGS. 5A-5C . Tilting connector unit  10  enables charger electrical connector  34  to be inserted into the mating vehicle electrical connector  38  with a variety of approach angles, as needed. The actuators  73  selectively and alternately rotate the rail  44 , and so also all ACD  8  components attached to it, about axis  15  to move connector unit  10  through up to 360 degrees and to a desired final angular position. In some embodiments, the vertical sliding movements of either of the slides  56  and the rotation of the rail  44  is performed simultaneously under control of the controller  75 . In operation, the connector unit  10  is thus also positionable in any angular position (angular movements, R′). In other embodiments, controller  75  orchestrates the vertical movements of slide(s)  56  in a separately timed sequence from (e.g., before or after) the rotational movement of rail  44 . Controller  75  thus selectively and/or alternately causes the one or more actuator(s)  73  to independently actuate the slides  56  (linearly along rail  44 ) and/or the rail  44  (rotatably about axis  15 ). 
     As can be appreciated from the foregoing description, the slides  56  and the support arms  52  have passive degrees of freedom around the rail  44  axis  15  and also perpendicular to that axis  15 . The connector unit  10  has at least two degrees of freedom and passive rotation with the at least two ball joints  60 . By controlling the positions of the at least two hinged  54  slides  56  along rail(s)  44  three degrees of freedom mechanical translation in two degrees of freedom rotation is provided in combination with the passive rotation of the ball joints  60 . 
     In one embodiment, ACD  8  includes one or more sensors  79  in communication with controller  75 . ACD  8  includes at least one wired and/or wireless data communication receiver, transmitter and/or transceiver (collectively referred to as communication device  81 ) in communication with controller  75 . Sensor(s)  79  are positioned in, on, or proximal, ACD  8  and/or elsewhere in charging environment  3  such as on or in ground surface  6 . As such, sensor(s)  79  are positioned at least one of: in, and proximal, the charging environment  3  of the EV  4 . Sensor(s)  79  receive signals from and/or generate data about charging environment  3  and EV  4  including, without limitation, whether or not unexpected or undesired objects or obstructions are present in environment  3 , movements in environment  3 , ambient conditions extant in environment  3  (e.g., temperature, wind speed, humidity, lighting), a presence of an EV  4  and/or an identity of the EV  4  and/or its driver in environment  3 , among other information. Sensor(s)  79  may include multi-modal sensor(s)  79  (e.g., a camera that is capable of generating both still image photos and streaming or recorded video). Sensor(s)  79  also include communication devices (not shown). Multi-modal sensor(s)  79  receive signals  77  via wired or wireless communication lines from communication device  81 , which contain commands from controller  75  as to which of two or more modes a particular sensor  79  is to operate in. 
     Sensor(s)  79  transmit to communication device  81  signals  77  encoding data that is representative of at least one of: a position of EV  4 , and a position of the vehicle electrical connector  38 , in the charging environment  3  broadly, or more specifically in the charging zone  9 . The position of the EV  4  and/or its vehicle electrical connector  38  determined by processing and analysis performed by controller  75  is used by controller  75  for orchestrating targeted actuation of connector unit  10  and charger electrical connector  34  for EV  4  charging operations. In particular, in some embodiments, controller  75  analyzes the data encoded by signal(s)  77  to determine the position of the vehicle electrical connector  38  with respect to a position of the charger electrical connector  34  of device  8 . These data are further used by the controller  75 , either concurrently or consecutively, to selectively cause the actuator(s)  73  to actuate, according to the determined position of connector  38  with respect to connector  34 , at least one of the slides  56  along axis  15  and/or to rotate the rail  44  about axis  15  to move the charger electrical connector  34  to a position in space that is sufficient to facilitate insertion of connector  34  into connector  38  according to the devices, systems and methods disclosed herein. In an example, controller  75  determines and implements a visual servoing-based actuation control scheme to actuate, according to the determined position connector  38  with respect to connector  34 , the at least one slide  44  engaged with the one or more rail  44  to move charger electrical connector  34  for the insertion of connector  34  into vehicle electrical connector  38 . 
     In some embodiments, controller  75  is or includes one or more processors having a central processing unit (CPU) and/or a graphics processing unit (GPU), which may be at least partially embodied in a general purpose computer and/or a mobile computing platform. Alternatively, or instead, controller  75  is or includes application specific integrated circuit(s) (ASIC(s)), programmable logic controller(s) (PLC(s)) and/or field programmable gate array(s) (FPGA(s)), among others. Computing (e.g., computational processing) and/or memory (e.g., data storage) resources need not be positioned at the location of the ACD  8 . Such resources may be located, at least in part, remote from ACD  8  (e.g., in the cloud) and associated computing and/or data storage operations may be implemented by way of remote data communication using wired or wireless methods, including by way of Internet and/or cellular networks, and using, for example, Internet of Things (IoT) protocols and/or standards. 
     In embodiments where controller  75  is or includes CPU- and/or GPU-based processors, for instance, ACD  8  includes at least one memory device  83  in communication with controller  75 . One or more of the disclosed operations performed, implemented, or at least facilitated by controller  75  may rely on reading and executing program instructions stored as software (or firmware)  87 . In one embodiment, memory device(s)  83  is or includes non-transitory computer-readable media (NT-CRM)  85  and software (or firmware)  87  is stored in the NT-CRM  85 . Software (or firmware)  87  architecture may be provided in a modular design to facilitate troubleshooting, maintenance, and providing updates for ACD  8 , as used, for example, in the EV  4  charging methods described herein. 
     In one embodiment, sensor(s)  79  include an imaging device (e.g., camera) capable of generating still or video images and transmitting image data as signal(s)  77  to the memory device(s)  83  and/or directly to controller  75 . In the examples shown in  FIGS. 3A-5C , ACD  8  includes two camera-type sensor(s)  79 : one atop rail  44  and another in or on the first end  7  of connector unit  10 . The connector unit  10  camera sensor  79  is utilized for providing data encoding positional information for the vehicle electrical connector  38  to controller  75  by way of signal(s)  77 . To facilitate operations directed to guiding movement(s) of charger electrical connector  34  to a position in space that is sufficient to permit its mating engagement with vehicle electrical connector  38 , connector unit  10  may include a light (not shown) at its first end  7  to facilitate imaging and/or computer vision-related operations. The camera sensor  79  positioned atop, or at an upper portion of rail  44  provide higher angle views, and is utilized for providing data encoding positional information for the EV  4  itself to controller by way of signal(s)  77  as the EV  4  approaches, enters, and comes to rest in charging environment  3 . In one embodiment, a resolution (e.g., as measured in megapixels) of the EV  4 -localizing camera sensor  79  is lower than a resolution of the vehicle electrical connector  38  localizing camera sensor  79 . 
     In the embodiment, sensor(s)  79  are motion detection sensor(s) or they include motion-detecting modes. Alternatively, separate motion sensor(s)  79  may be utilized and positioned in, on, and/or proximal ACD  8  or elsewhere in or near charging environment  3 . In a use case, the camera sensor  79  set to a motion sensing mode during non-use periods of ACD  8  is positioned on or atop rail  44 , and is used to wake up controller  75  (e.g., from a sleep or other low power mode) in response to signal(s)  77  indicating that EV  4  is approaching, or entering, charging environment  3 . Optionally, this sensor  79  is used for controller  75  to identify the EV  4  and/or its driver to, for instance, cause an audible greeting to be transmitted, cause a particular song to be played and/or to cause function(s) of a smart home system  99  (e.g., a lighting scheme inside a garage to be illuminated and/or a notification to be transmitted to smartphone(s) of an EV  4  driver&#39;s family member(s)) to be implemented. Upon being woken up, controller  75  may begin actuation of slides  56  and/or rail  44  to start to move and/or orient connector unit  10  into and/or toward environment  3 , respectively. In the embodiment, lower resolution images and/or video suffice for such controller  75  functions. 
     In the use case, upon controller  75  determining that, based on data from the rail  44 -positioned camera sensor  79 , EV  4  has come to rest in the charging zone  9 , the connector unit  10  camera sensor  79  may be awoken from a sleep or other low power usage state and, optionally, the aforementioned connector unit  10  light may be illuminated. The controller  75  causes the actuation system  69  and/or actuator(s)  73  to move the slide(s)  56  and/or rail(s)  44  to thereby position the charger electrical connector  34  for insertion into, and mating engagement with, the vehicle electrical connector  38 . Use of the connector unit  10  camera sensor  79  image data for automation of these motorized actuations in ACD  8  in operation may benefit from higher resolution images in the associated computer vision-based processing and actuator  73  control by controller  75 . Although initial actuations and/or actuation sequences that are caused to be performed by controller  75  may be coarse during such times that charger electrical connector  34  is positioned at or beyond a predetermined distance (d) from vehicle electrical connector  38 , finer actuations may be implemented by controller  75  during such times that connector  34  has closed in to connector  38  within distances less than d. 
     In another embodiment (not shown), ACD  8  includes only the camera sensor  79  having the motion-detection functionality positioned in or on the connector unit  10 . In the embodiment, during times of non-use of ACD  8 , connector unit  10  having motion detection-capable sensor  79  is stowed in a position on an upper portion of rail  44 . In the embodiment, the connector unit  10  sensor  79  is oriented in view of changing environment  3  during such times when connector unit  10  is in the stowed position. This embodiment enables controller  75  to be woken up, and for the full range of imaging and computer vision-based processing and actuator  73  control by controller  75  to be performed as described above using a single sensor  79  having motion-detection and camera imaging modes. 
     In one embodiment, camera sensor(s)  75  are capable of imaging at wavelengths of light that are invisible to human eyes (e.g., ultraviolet (UV)), either instead of, or in addition to, visible light. At least one sticker and/or area painted, or printed, with UV-visible ink may be placed on, or proximal, vehicle electrical connector  38  to facilitate connector  38  localization and relative positioning of connector  34  with respect to connector  38  using computer vision-based control techniques. In an example, a set of 3 points defining a triangle are placed in this fashion to mark the position and orientation of the vehicle electrical connector  38  for use in computer vision-based processing and actuator  73  control by controller  75  implementing the visual servoing-based actuation control scheme. In one embodiment, the visual servoing includes proportional motion control and asymptotic convergence. Such motion control algorithms make use of a distance offset representing a fixed known distance between the camera sensor  79  on the connector unit  10  and the charger electrical connector  34 . This offset may be applied for the visual servoing-directed computations. Additionally, or instead, such computer vision-based processing and actuation control techniques may make use of the actual representative image of at least a partial frontal view of the vehicle electrical connector  38  as viewed by connector unit  10  camera sensor  79  during operation of ACD  8 . 
     In operation of device  8 , as in performance of method  28 , gross EV  4  localization utilizes high angle camera sensor  79  positioned in or on an upper portion of rail  44 . Additionally, or instead, of the high angle camera imaging-based gross EV  4  localization, proper EV  4  placement and pairing may be employed (e.g., by markings on ground surface  6  and/or on at least a portion of ACD  8  that are visual to an EV  4  driver). Next, EV  4  inlet door localization for the vehicle electrical connector  38  is performed. Localization of the position of the EV  4  inlet door is initially a rough localization procedure facilitated by camera sensor(s)  79  positioned on connector unit  10  and/or on the upper portion of rail  44 . This stage may include controller  75  of ACD  8  causing a signal to be sent to the vehicle unit  16  to automatically open the EV  4  inlet door. After finding the EV  4  inlet door position and causing the inlet door to be opened, localization of the vehicle electrical connector  38  is performed. This is a fine level localization, and includes determining the pose of the vehicle electrical connector  38  to a level of detail sufficient to plan motion of the ACD  8  components (e.g., slides  56 ) to attain a final position with charger electrical connector  34  inserted in a matingly engaged fashion into vehicle electrical connector  38 . Either after, or concurrently with, localizing the vehicle electrical connector  38 , the motion plan is executed using an actuator control scheme including visual servoing. 
       FIG. 3C  provides a perspective views of the ACD  8  having two rails  44 , including with the connector unit  10  in a docked position  62 .  FIGS. 3D and 3E  are side views of the ACD  8  shown in  FIG. 3C , and  FIG. 3F  is a detail side view of the docked position  62  of connector unit  10 .  FIGS. 4A-4G  are schematic diagrams of aspects of the ACD  8  of  FIGS. 3B-3E  in actuated positions according to an embodiment of the disclosure.  FIG. 4A  provides a perspective view of the ACD  8  with the connector unit  10  in an actuated position.  FIG. 4B  is a detail perspective view of a slide  56  joint  68   a  having hinge  54   a  coupled to support arm  52  and positioned on and engaged with rail  44  of the ACD  8  that may be used with any of the device  8  embodiments of  FIGS. 3A-4A and 4D-5C  according to an embodiment of the disclosure.  FIG. 4C .  FIG. 4D  is a detail perspective view of a slide  56  joint  68   b  having hinge  54   a  coupled to support arm  52  and positioned on and engaged with rail  44  of the ACD  8  that may be used with any of the device  8  embodiments of  FIGS. 3A-4A and 4D-5C  according to another embodiment of the disclosure.  FIGS. 4D-4G  are side and top plan views of actuated positions of components of the ACD  8 .  FIGS. 5A-5C  are schematic diagrams of aspects of the ACD  8  with connector unit  10  in a tilted position according to an embodiment of the disclosure, including side ( FIGS. 5A and 5B ) and top plan ( FIG. 5C ) views thereof. 
     In the examples illustrated in  FIGS. 3B-5C , ACD  8  includes base  42  positioned on or in a ground surface  6  and at least two vertical rails  44  coupled to spaced portions (e.g.,  11   a  and  11   b ) of the base  42  and extending vertically upward from the base  42 . At least one slide  56  is engaged with each rail  44  of the at least two rails  44 , as described above with reference to  FIG. 3A . In one embodiment, the slides  56  are slidingly engaged with the rails  44 . In other embodiments, the slides  56  are positioned on, engaged with, and actuatable along, rails  44  according to any of the configurations shown and/or described above with reference to  FIG. 3A . Connector unit  10  having a first  7  and second  9  ends includes charger electrical connector  34  at the first end  7 . A plurality of elongate support arms  52  include at least one support arm  52  pivotably coupled to and between (e.g., by way of ball joint(s)  60  and hinge(s)  54 ) the at least one slide  56  engaged with a first rail  44  of the at least two rails  44  and a first portion (e.g.,  21 ) of the second end  9  of the connector unit  10 . At least one additional support arm  52  pivotably coupled to and between (e.g., by way of ball joint(s)  60  and hinge(s)  54 ) the at least one slide  56  engaged with a second rail  44  of the at least two rails  44  and a second portion (e.g.,  23 ) of the second end  9  of the connector unit  10 . In the example shown in  FIGS. 3C-5C , the spaced portions ( 11   a ,  11   b ) of the base  42  to which the at least two rails  44  are coupled are positioned at opposite lateral sides of the base  42 . 
     In the illustrated embodiment of  FIGS. 3C-5C , ACD  8  includes a top piece  48  coupled to ends (e.g., top ends  31   a  and  31   b ) of the at least two vertical rails  44  opposite the base  42 . The ACD  8  may include at least one support post  46  coupled to and between the base  42  and the top piece  48 . In the illustrated embodiment of  FIGS. 3C-5C , the at least one support post  46  includes at least two support posts  46  coupled to the spaced portions ( 11   a ,  11   b ) of the base  42 . The ACD  8  embodiment of  FIGS. 3C-5C  includes the controller  75 , memory  83  communication device  81 , sensor(s)  79 , actuation system  69  and actuator(s)  73  as shown and/or described above with reference to  FIG. 3A . Controller  75 , memory  83 , communication device  81 , sensor(s)  79 , actuation system  69  and actuator(s)  73  are used for the same functions and beneficial ends, and with all the disclosed variations, as described above with reference to  FIG. 3A . 
     In one embodiment, ACD  8  includes a docking station  66  positioned in or on the base  42  for receiving the first end  7  of the connector unit  10  and maintaining the first end  7  of the connector unit  10  in a stationary position  62 . In another embodiment (not shown), docking station  66  is positioned in or on top piece  48  or in or on an upper portion of rail  44  and/or support post  46 . In an example, the docking station  66  includes a means  67  for cleaning (e.g., a controllable valve (not shown) in flow communication with a supply of compressed air and/or fluid under pressure) the charger electrical connector  34  of the connector unit  10  in the stationary position  62 . In the example, the cleaning means  67  is in communication with the controller  75  and the controller  75  causes the valve to selectively and alternately open and close to expose the charger electrical connector  34  to the compressed air and/or pressurized fluid for a predetermined duration of time when first end  7  connector unit  10  is docked in the docking station  66  in the stationary position  62 . 
     Referring to  FIG. 4B , in joint  68   a , hinge  54   a  is or includes a U-shaped bracket hingedly coupled to slide  56 . The two pivot points of hinge  54   a  on inner surfaces of each of the two legs of the U-shaped bracket lie on a pivot axis  98   a  and are coupled to opposite sides of slide  56 . Support arm  52  is coupled to a base of the U-shaped bracket and extends away from hinge  54   a  and toward connector unit  10 , as shown in  FIGS. 3A and 3B . Joint  68   a  with hinge  54   a  may be used with any of the device  8  embodiments shown and described above with reference to  FIGS. 3A-4A and 4D-5C . 
     In an alternative embodiment shown in  FIG. 4C , joint  68   b  provides an equivalent function as joint  68   a  in the disclosed device  8 , but with added safety precautions as compared to joint  68   a . In joint  68   b , hinge  54   b  is rotatably coupled to support arm  52  in a single planar region rather than via two pivot points as in hinge  54   a . Thus, in joint  68   b , hinge  54   b  has a single pivot axis  98   b , where an end of support arm  52  and an end of hinge  54   b  define respective planes that are perpendicular to axis  98   b  and with at most a nominal gap between the planes. By arranging the degrees of freedom in joint  68   b  in the manner shown in  FIG. 4C , the support arm  52  and hinge  54   b  of slide  56  come together without any gaps, thereby eliminating pinch points existing where gaps are opened and/or closed during operation of device  8 . Separating the rotation axis and placing the rotation axis parallel to mechanical axes eliminates the pinch points. Foam pads on the moving knuckles can alleviate any remaining mechanical risks during operation. Joint  68   b  with hinge  54   b  may be used with any of the device  8  embodiments shown and described above with reference to  FIGS. 3A-4A and 4D-5C . 
     In some embodiments, device  8  includes one or more safety release mechanisms to enable a user to manually move the connector unit  10  and/or other components of device (e.g., support arm(s)  52 , rail(s)  44 , slide(s)  56 ) in the event of a facility power outage that may lock electric actuators  73 , or which causes the actuators  73  to be unable to be compliantly moved by hand, or another abnormal operational condition for device  8  that otherwise makes it difficult for components directly or indirectly operably coupled to actuator(s)  73  to be moved or positioned/repositioned manually. In such operational use cases, a device  8  user may desire or require that the charger electrical connector  34  of connector unit  10  be manually disengaged with the vehicle electrical connector  38 . For instance, in order to drive the EV  4  away from device  8  and out of a parking garage, the connectors ( 34 ,  38 ) should be decoupled and disengaged from one another before attempting to move the EV  4 . Thus, the safety release mechanism enables at least a portion of the actuation system  69  and its operation to be selectively and alternately enabled and disabled for use in device  8  according to the disclosed embodiments. 
     In one example, as shown in  FIGS. 3A and 3E , the safety release mechanism(s) is/are embodied in at least one first release mechanism  76 . First safety release mechanism  76  is operably coupled to at least a portion of actuator  73  and/or at least a portion of a respective device  8  component (e.g., chain (or cable or belt)  93  and/or rail  44 ) that is directly actuatable by actuator  73 . First release mechanism  76  is positioned in device  8  to be accessible to device  8  users to operate manually. First safety release mechanism  76  assumes at least two positions in device  8  during operation. A first position of mechanism  76  is a disengaged position that enables actuation of a device  8  component by the respective actuator  73  by maintaining the respective device  8  component operably coupled to actuator  73 . A second position of mechanism  76  is an engaged position that disables actuation of the device  8  component by the respective actuator  73  by decoupling the actuator  73  from the respective component, thereby enabling the respective component to be compliantly moved by hand. In this manner, removing the physical connection between the actuator  73  and the device  8  component that is respectively actuatable by the actuator  73  results in the movements of the respective device  8  component no longer being constrained by the electro-mechanical and kinematic constraints of actuator  73 . 
     In another example, as shown in  FIGS. 3A, 4A and 4B , the safety release mechanism is embodied in a second release mechanism  78 . Second safety release mechanism  78  is operably coupled to at least a portion of a device  8  component that is indirectly caused to be moved by actuation of a connected device  8  component by actuator(s)  73  (e.g., hinge  54 , joint  60 , magnet  91 , pulley  92 ). Second release mechanism  78  is positioned in device  8  to be accessible to device  8  users to operate manually. Second safety release mechanism  78  assumes at least two positions in device  8  during operation. A first position of mechanism  78  is a disengaged position that enables the device  8  component to be indirectly moved by the actuation of a connected device  8  component by actuator(s)  73  by maintaining the respective device  8  component operably coupled to the connected device  8  component to enable that indirectly actuated movement. A second position of mechanism  78  is an engaged position that disables the indirect actuation of the device  8  component by the actuation of the connected device  8  component by the respective actuator  73  by decoupling the connected device  8  components, thereby enabling at least one of the connected components to be compliantly moved by hand. In this manner, removing the physical connection between the linked device  8  components results in the movements of one or more of them no longer being constrained by the mechanical and kinematic constraints of the parallel mechanism of the disclosed devices  8 . 
     As with the ACD  8  embodiment shown and described above with reference to  FIG. 3A , the slides  56  and the support arms  52  of the ACD  8  (e.g., as shown with the movement sequences of connector unit  10  in  FIGS. 3B-5C ) have passive degrees of freedom around the rail  44  axes  15  and also perpendicular to that axis  15 . The connector unit  10  likewise has at least two degrees of freedom and passive rotation with the at least two ball joints  60 . By controlling the positions of the at least two hinged  54  slides  56  along rail(s)  44  three degrees of freedom mechanical translation in two degrees of freedom rotation is provided in combination with the passive rotation of the ball joints  60 . 
     After EV  4  is charged using the above-described devices, systems and methods, or upon EV  4  needing to depart EV charging environment  3  for any reason decoupling of the charger electrical connector  34  from the vehicle electrical connector  38  and manual or automated/actuated movement of the connector unit  10  from its final position back to its initial position may be accomplished by implementing the various disclosed kinematic and computer processes in a reverse sequence. 
     Various embodiments disclosed herein are to be taken in the illustrative and explanatory sense, and should in no way be construed as limiting of the present disclosure. 
     While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof