SYSTEM AND METHOD FOR FAULT-TOLERANT END OF TRAVEL DETECTION FOR GREATER THAN 360 DEGREE MOTION

Abstract: a system and method for detecting end of travel in a rotational joint with greater than 360� of travel are provided. the system includes first and second limit switches coupled to the rotational joint for signaling end of travel of the rotational joint in clockwise and counterclockwise directions; a limit switch cam ring configured to actuate the first limit switch at a first rotational position in the clockwise direction and the second limit switch at a second rotational position in the counterclockwise direction, the cam ring configured to rotate in the direction of joint rotation when the rotational joint is in an ambiguity region of joint travel; first and second cam ring return mechanisms for returning the cam ring to a default position after triggering the first and second limit switches, respectively; and an actuation pin mounted to the rotational joint such that the actuation pin follows joint rotation exactly, the actuation pin configured to actuate the cam ring.

Inventor(s): Tej Singh Sachdev, James Haensel, Justin Charbonneau, Steve Fisher

CPC Classification: B25J13/088 ({with position, velocity or acceleration sensors})

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