Reusable Mechanically Fused Dovetail Retainer Mechanisms

Abstract

A reusable mechanism is disclosed for coupling two robotic appendages, such that an unintended force acting against a side of one of the appendages may decouple the appendages. The mechanism includes a revolved male dovetail mated to a revolved female dovetail. The mechanism may further include a channel within the male dovetail and a detent that inhibits rotation of the male dovetail in relation to the female dovetail.

1 . A retainer mechanism comprising:
 a first member comprising:
 a first body having a male dovetail, wherein the male dovetail comprises two outer surfaces inclined relative to each other; and 
   a second member comprising:
 a second body having a female dovetail, the female dovetail comprising two inner surfaces inclined relative to each other, wherein the two inner surfaces define a first channel between the two inner surfaces, and wherein the female dovetail is configured to couple with the male dovetail, such that each of the two outer surfaces of the male dovetail mates with one of the respective inner surfaces of the female dovetail, 
   wherein at least a portion of the first member or second member is elastically deformable such that when the female dovetail is coupled to the male dovetail, the retainer mechanism is configured to allow the male dovetail to decouple from the female dovetail without breaking when an orthogonal force applied at either the first member or the second member is more than a threshold force.   
     
     
         2 . The retainer mechanism of  claim 1 , wherein the male dovetail further comprises an inner channel located between the two outer surfaces. 
     
     
         3 . The retainer mechanism of  claim 2 , further comprising an insert located within the inner channel of the male dovetail. 
     
     
         4 . The retainer mechanism of  claim 3 , wherein the insert is arranged as a segment of an annular ring. 
     
     
         5 . The retainer mechanism of  claim 1 , further comprising a backstop, wherein the backstop extends outward from the second body and is configured to mate with an end of the male dovetail and prevent rotational movement of the first body relative to the second body beyond the backstop. 
     
     
         6 . The retainer mechanism of  claim 1 , further comprising a detent configured to inhibit rotational movement of the first body relative to the second body. 
     
     
         7 . The retainer mechanism of  claim 6 , wherein the detent comprises:
 a recess; and   a protrusion configured to mate with the recess.   
     
     
         8 . The retainer mechanism of  claim 7 , wherein the recess is arranged as a groove, and wherein the protrusion is arranged as a linear protrusion. 
     
     
         9 . The retainer mechanism of  claim 1 ,
 wherein the first member further comprises two wings extending outward from the first body, wherein each wing is oriented adjacent to and at an angle relative to one of the respective outer surfaces of the male dovetail, wherein each wing is arranged in an arc about a central axis,   wherein the female dovetail further comprises two top surfaces, wherein each top surface is oriented adjacent to and at an angle relative to one of the respective inner surface of the female dovetail, and wherein each of the respective top surfaces is configured to mate to one of the respective wings of the male dovetail.   
     
     
         10 . The retainer mechanism of  claim 9 , further comprising a detent configured to inhibit rotational movement of the first body relative to the second body about the central axis, wherein the detent is located at an interface between at least one bottom surface of the male dovetail and a base surface of the second body. 
     
     
         11 . The retainer mechanism of  claim 1 ,
 wherein the second body further comprises a base surface defining a side of the channel between the two inner surfaces of the female dovetail, wherein the base surface is arranged in an arc about a central axis,   wherein the male dovetail further comprises two bottom surfaces, wherein each bottom surface is oriented adjacent to and at an angle relative to one of the respective outer surface of the male dovetail, and wherein each of the respective bottom surfaces is configured to mate to the base surface of the second body.   
     
     
         12 . The retainer mechanism of  claim 11 , further comprising a detent configured to inhibit rotational movement of the first body relative to the second body about the central axis, wherein the detent is located at an interface between at least one bottom surface of the male dovetail and the base surface of the second body. 
     
     
         13 . A robotic device comprising a retainer mechanism, wherein the retainer mechanism comprises:
 a first member comprising:
 a first body having a male dovetail, wherein the male dovetail comprises two outer surfaces inclined relative to each other; and 
   a second member comprising:
 a second body having a female dovetail, the female dovetail comprising two inner surfaces inclined relative to each other, wherein the two inner surfaces define a first channel between the two inner surfaces, and wherein the female dovetail is configured to couple with the male dovetail, such that each of the two outer surfaces of the male dovetail mates with one of the respective inner surfaces of the female dovetail, 
   wherein at least a portion of the first member or second member is elastically deformable such that when the female dovetail is coupled to the male dovetail, the retainer mechanism is configured to allow the male dovetail to decouple from the female dovetail without breaking when an orthogonal force applied at either the first member or the second member is more than a threshold force.   
     
     
         14 . The robotic device of  claim 13 , wherein the male dovetail further comprises an inner channel located between the two outer surfaces. 
     
     
         15 . The robotic device of  claim 14 , further comprising an insert located within the inner channel of the male dovetail. 
     
     
         16 . The robotic device of  claim 15 , wherein the insert is arranged as a segment of an annular ring. 
     
     
         17 . The robotic device of  claim 13 , further comprising a backstop, wherein the backstop extends outward from the second body and is configured to mate with an end of the male dovetail and prevent rotational movement of the first body relative to the second body beyond the backstop. 
     
     
         18 . The robotic device of  claim 13 , further comprising a detent configured to inhibit rotational movement of the first body relative to the second body. 
     
     
         19 . The robotic device of  claim 18 , wherein the detent comprises:
 a recess; and   a protrusion configured to mate with the recess.   
     
     
         20 . The robotic device of  claim 19 , wherein the recess is arranged as a groove, and wherein the protrusion is arranged as a linear protrusion.