Conformable Track Assembly For A Robotic Crawler
First Claim
1. A lightweight robotic vehicle having tandem endless tracks supported on conformable suspension systems, comprising:
- at least two frames coupled in tandem by an active, actuatable articulated linkage arm, each frame comprising;
a forward guide coupled to the frame and configured to receive a looped portion of the endless track around the forward guide;
a rearward guide coupled to the frame and configured to receive a looped portion of the endless track around the rearward guide; and
at least one deflector operable with the frame between the forward guide and the rearward guide, the at least one deflector being configured to downwardly deflect a ground-engaging portion of the endless track between the forward guide and the rearward guide to form a peaked area,wherein movement and pose of the lightweight robotic vehicle is at least partially controlled by the articulated linkage arm, andwherein the deflector of at least one frame is operable to at least partially support the associated frame on the peaked area in response to variable surface conditions.
3 Assignments
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Accused Products
Abstract
A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.
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Citations
23 Claims
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1. A lightweight robotic vehicle having tandem endless tracks supported on conformable suspension systems, comprising:
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at least two frames coupled in tandem by an active, actuatable articulated linkage arm, each frame comprising; a forward guide coupled to the frame and configured to receive a looped portion of the endless track around the forward guide; a rearward guide coupled to the frame and configured to receive a looped portion of the endless track around the rearward guide; and at least one deflector operable with the frame between the forward guide and the rearward guide, the at least one deflector being configured to downwardly deflect a ground-engaging portion of the endless track between the forward guide and the rearward guide to form a peaked area, wherein movement and pose of the lightweight robotic vehicle is at least partially controlled by the articulated linkage arm, and wherein the deflector of at least one frame is operable to at least partially support the associated frame on the peaked area in response to variable surface conditions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A lightweight robotic vehicle having tandem endless tracks supported on conformable suspension systems, comprising:
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at least two frames coupled in tandem with an active, actuatable articulated linkage arm, each frame comprising; a forward guide coupled to the frame and configured to receive a looped portion of the endless track around the forward guide; a rearward guide coupled to the frame and configured to receive a looped portion of the endless track around the rearward guide; and at least one deflector operable with the frame, the at least one deflector being selectively engageable to deflect the ground-engaging portion of the endless track between the forward guide and the rearward guide to form a peaked area, wherein movement and pose of the lightweight robotic vehicle is at least partially controlled by the articulated linkage arm, and wherein the at least two endless tracks and the articulated linkage arm are operable to maintain at least one frame balanced on the peaked area of the associated endless track. - View Dependent Claims (14)
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15. A method for supporting a lightweight robotic vehicle on tandem endless tracks, comprising:
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operating a first endless track looped around a forward guide and a rearward guide of a first frame; operating a second endless track looped around a forward guide and a rearward guide of a second frame, the first and second frames being coupled in tandem by an active, actuatable articulated linkage arm; selectively deflecting at least one ground-engaging portion of at least one of the first and second endless tracks in a downward direction to form a peaked area of the endless track; and articulating the articulated linkage arm to establish a desired pose for the lightweight robotic vehicle and to support at least one of the first and second frames at least partially on the formed peaked area so as to enable changing distribution of load over the ground-engaging portion of the deflected endless track with respect to a supporting surface. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23)
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Specification