ELECTRIC MANIPULATOR JOINT

摘要

A manipulator joint includes an encoder having an encoder body and encoder shaft. The encoder body may be fixed to a first housing and the encoder shaft may be fixed to a second. The second housing is separate from, distal to, and rotatable with respect to the first housing. Rotation of the second housing may be about a common axis shared with the first housing. A driveshaft may be rotatably coupled to the second housing and extend across the joint from the second to the first housing. A torque limiter may be fixedly coupled to the first housing and releasably coupled to the driveshaft. The encoder may be configured to output an absolute angular position of the first housing with respect to the second housing. A method of detecting an over- torque condition of the manipulator joint includes transmitting commands from a processor to the drive motor and receiving data from the encoder.