Modular hybrid snake arm
First Claim
1. A robotic arm assembly adapted for use with a mobile robot chassis, comprising:
- an arm platform rotatably connectable to a mobile robot chassis;
at least one robotic snake arm attached to the arm platform;
a rotary drive capable of applying force between the are platform and the mobile robot chassis to rotate the robotic arm assembly relative to the mobile robot chassis; and
a circumferential storage space on the arm platform wherein the at least one robotic snake arm is capable of coiling around the circumference of the arm platform for storage in the circumferential storage space.
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Abstract
An intelligent modular hybrid robot arm system is usable with mobile robots, and is applicable to stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope and a controlled and directed rotational movement for a flexible snake robot arm. The intelligent modular hybrid robot arm system has the ability to change end effector tools and sensors. The platform computers have the ability to interact with other subsystems for coordinated as well as independent tasks. The flexibly snake robot arm can be covered with a flexible sensor network, or “skin”. The intelligent modular hybrid robot arm system can manage its energy use, stores the arm in a compact shape and uses a central support tube offering unobstructed arm access to all sectors of its working envelope.
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Citations
26 Claims
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1. A robotic arm assembly adapted for use with a mobile robot chassis, comprising:
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an arm platform rotatably connectable to a mobile robot chassis; at least one robotic snake arm attached to the arm platform; a rotary drive capable of applying force between the are platform and the mobile robot chassis to rotate the robotic arm assembly relative to the mobile robot chassis; and a circumferential storage space on the arm platform wherein the at least one robotic snake arm is capable of coiling around the circumference of the arm platform for storage in the circumferential storage space. - View Dependent Claims (2, 3, 4, 5, 20)
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6. A mobile robot, comprising:
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a mobile robot chassis with a vertical support member; and at least one rotatable arm platform mounted on the vertical support member, comprising; an arm platform rotatably connected to the vertical support member; and at least one robotic snake arm attached to the arm platform; and a rotary drive capable of applying force between the arm platform and the mobile robot chassis to rotate the robotic arm assembly about the vertical support member; and a circumferential storage space on the arm platform wherein the at least one robotic snake arm is capable of coiling around the circumference of the arm platform for storage in the circumferential storage space. - View Dependent Claims (7, 8, 9, 10, 21, 22)
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11. A modular mobile robot, comprising:
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a mobile chassis adapted to accept at least one modular robotic assembly rotatably connectable to the mobile chassis; at least one modular robotic assembly connected to the mobile chassis and rotatable about a rotational axis; at least one robotic snake arm attached to the at least one modular robotic assembly; and a circumferential storage space on the modular robotic assembly wherein the at least one robotic snake arm is capable of coiling around the modular robotic assembly for storage in the circumferential storage space; wherein the at least one snake arm is capable of making a variety of arm movements by rotating the modular robotic assembly and actuating the at least one robotic snake arm. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 23, 24, 25, 26)
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Specification