Serpentine robotic crawler for performing dexterous operations
First Claim
Patent Images
1. A serpentine robotic crawler, comprising:
- at least one frame;
at least one dexterous manipulator supported about the frame, the dexterous manipulator comprising;
a jointed member moveable about at least one degree of freedom, and an end effecter moveable by the jointed member,wherein the dexterous manipulator is moveable in at least two degrees of freedom, and facilitates performance of a dexterous operation;
a second frame;
an articulating linkage coupling the at least one frame and the second frame, the articulating linkage having at least one articulating joint; and
a second dexterous manipulator supported about the second frame and moveable within at least two degrees of freedom to facilitate a dexterous operation,wherein the at least one dexterous manipulator and the second dexterous manipulator perform individual dexterous operations that are coordinated with one another.
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Abstract
A serpentine robotic crawler having multiple dexterous manipulators supported about multiple frame units. The frame units are connected via an articulating linkage at proximal ends wherein the articulating linkage is capable of positioning the frames into various configurations. Dexterous manipulators are coupled to distal ends of the frame units and are positionable via the articulating linkage and articulating joints therein into various positions about the frame ends. The configurations and positioning of the dexterous manipulators allows the robotic crawler to perform coordinated dexterous operations.
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Citations
26 Claims
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1. A serpentine robotic crawler, comprising:
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at least one frame; at least one dexterous manipulator supported about the frame, the dexterous manipulator comprising; a jointed member moveable about at least one degree of freedom, and an end effecter moveable by the jointed member, wherein the dexterous manipulator is moveable in at least two degrees of freedom, and facilitates performance of a dexterous operation; a second frame; an articulating linkage coupling the at least one frame and the second frame, the articulating linkage having at least one articulating joint; and a second dexterous manipulator supported about the second frame and moveable within at least two degrees of freedom to facilitate a dexterous operation, wherein the at least one dexterous manipulator and the second dexterous manipulator perform individual dexterous operations that are coordinated with one another. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A serpentine robotic crawler, comprising:
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a first frame having a distal end, a proximal end, and a drive subsystem operable therewith; a second frame having a distal end, a proximal end, and a second drive subsystem operable therewith; an articulating linkage coupling the first and second frames together about their respective proximal ends, the articulating linkage having at least one actuated joint; and a dexterous manipulation system comprising; a dexterous manipulator supported about the distal end of each of the first and second frames; a control system supported about one of the first and second frames for controlling the dexterous manipulators, wherein the dexterous manipulators perform individual dexterous operations that are coordinated with one another. - View Dependent Claims (15, 16, 17)
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18. A method for facilitating dexterous operation within a serpentine robotic crawler, the method comprising:
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providing a frame having a drive subsystem; configuring the drive subsystem to provide locomotion to the frame; supporting a dexterous manipulator about the frame, the dexterous manipulator comprising a jointed member, a rotational joint, and an end effector supported about the jointed member; configuring the jointed member to move in at least one degree of freedom; configuring the rotational joint to move in at least one degree of freedom different from that of the jointed member; configuring the end effector to apply a first force in a first direction, and a second force in a second direction; providing a second frame having a second drive subsystem; coupling the first and second frames together via an articulating linkage having at least one actuated joint; supporting a second dexterous manipulator about the second frame, the second dexterous manipulator comprising a second jointed member, and a second end effector supported about the second jointed member; configuring the second jointed member to move in at least one degree of freedom; configuring the first and second jointed members and the first and second end effectors to perform individual dexterous operations in a coordinated manner. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26)
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Specification