Serpentine robotic crawler
First Claim
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1. A serpentine robotic crawler comprising:
- a first frame having a first continuous track rotatably supported by the first frame;
a first wrist-like actuated linkage coupled to the first frame wherein the first wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes;
an elbow-like actuated joint coupled to the first wrist-like actuated linkage wherein the elbow-like actuated joint provides bending movement about a lateral axis;
a second wrist-like actuated linkage coupled to the elbow-like actuated joint wherein the second wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes; and
a second frame coupled to the second wrist-like actuated linkage and having a second continuous track rotatably supported by the second frame.
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Abstract
A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has at least 7 degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.
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Citations
25 Claims
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1. A serpentine robotic crawler comprising:
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a first frame having a first continuous track rotatably supported by the first frame; a first wrist-like actuated linkage coupled to the first frame wherein the first wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes; an elbow-like actuated joint coupled to the first wrist-like actuated linkage wherein the elbow-like actuated joint provides bending movement about a lateral axis; a second wrist-like actuated linkage coupled to the elbow-like actuated joint wherein the second wrist-like actuated linkage provides rotational movement about a longitudinal axis and bending movement about two different lateral axes; and a second frame coupled to the second wrist-like actuated linkage and having a second continuous track rotatably supported by the second frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A serpentine robotic crawler comprising:
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at least two frame units each having a continuous track rotatably supported therein; at least one multi-degree of freedom linkage arm coupled between the frame units to form a train of frame units, the at least one actuated multi-degree of freedom linkage arm comprising a series coupled combination of at least seven actuated joints. - View Dependent Claims (14, 15, 16)
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17. A method of operating a serpentine robotic crawler comprising:
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providing a first frame and a second frame, each frame having a driveable continuous track; coupling the first frame to the second frame with an actuated multi-degree of freedom linkage arm, wherein the actuated multi-degree of freedom linkage arm comprises a series-coupled combination of at least seven actuated joints to form the serpentine robotic crawler; and articulating the actuated multi-degree of freedom linkage arm to establish a desired pose for the serpentine robotic crawler. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25)
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Specification