Serpentine robotic crawler for performing dexterous operations

• US 9,409,292 B2
• Filed: 09/13/2013
• Issued: 08/09/2016
• Est. Priority Date: 09/13/2013
• Status: Active Grant

• Current Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Inventors: Smith, Fraser M., Olivier, Marc, McCullough, John
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): RINK, RYAN J
• Application Number:
  US14/026,284
• Publication Number:
  US 20150081092A1
• Time in Patent Office: 1,061 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10T 74/20329 Joint between elements

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.

Claims

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.

2. The serpentine robotic crawler of claim 1, wherein the dexterous manipulator exerts a force in excess of the weight of the serpentine robotic crawler.

3. The serpentine robotic crawler of claim 1, wherein the jointed member and the end effectors each are moveable in at least one degree of freedom, and wherein the jointed member and the end effectors exert a force in excess of the weight of the serpentine robotic crawler in their respective degree of freedom.

4. The serpentine robotic crawler of claim 1, wherein the dexterous manipulator is supported about an end of the frame.

5. The serpentine robotic crawler of claim 1, wherein the frame has an uppermost surface defining an upper plane and a lowermost surface defining a lower plane, and wherein the dexterous manipulator is position able to fit completely between the upper and lower planes.

6. The serpentine robotic crawler of claim 1, wherein the second dexterous manipulator comprises a jointed member moveable about at least one degree of freedom, and an end effecter moveable by the jointed member.

7. The serpentine robotic crawler of claim 1, further comprising an actuator system operable to actively articulate the at least one articulating joint of the articulating linkage, and the dexterous manipulator.

8. The serpentine robotic crawler of claim 1, further comprising at least one optical sensor configured to determine the spatial orientation of the first and second dexterous manipulators with respect to each other and a work piece, wherein the optical sensor facilitates coordinated two-handed operations.

9. The serpentine robotic crawler of claim 1, wherein the dexterous operation of the dexterous manipulator is coordinated with the dexterous operation of the second dexterous manipulator to perform a task.

10. The serpentine robotic crawler of claim 1, further comprising at least one electromagnet formed into an end effecter of at least one of the first and second dexterous manipulators.

11. The serpentine robotic crawler of claim 1, further comprising at least one textured surface supported about at least one of the first and second dexterous manipulators.

12. The serpentine robotic crawler of claim 1, further comprising a plurality of pneumatic suction cups supported about at least one of the first and second dexterous manipulators.

13. The serpentine robotic crawler of claim 1, further comprising a ground contacting element selected from the group consisting of an endless track, a wheel, and any combination of these.

14. A serpentine robotic crawler, comprising:

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.

15. The serpentine robotic crawler of claim 14, further comprising at least one optical sensor configured to ascertain the spatial orientation of the dexterous manipulators with respect to each other and capable of sensing the spatial orientation of the dexterous manipulators with respect to a work piece.

16. The serpentine robotic crawler of claim 14, wherein each frame has an uppermost surface defining an upper plane and a lowermost surface defining a lower plane, wherein the dexterous manipulator is positionable to fit completely between the upper and lower planes.

17. The serpentine robotic crawler of claim 14, wherein the drive subsystems operable with the first and second frames comprise an endless track.

18. A method for facilitating dexterous operation within a serpentine robotic crawler, the method comprising:

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.

19. The method of claim 18, further comprising:

providing at least one actuator system capable of articulating the jointed member and the dexterous manipulator; and

configuring the at least one actuator system to provide a force at least equal to the weight of the entire crawler.

20. The method of claim 18, further comprising configuring the dexterous manipulator to fit within an upper plane and a lower plane defined by uppermost and lowermost surfaces of the frame.

21. The method of claim 18, further comprising:

providing at least one optical sensor; and

configuring the at least one optical sensor to ascertain the spatial orientation of the dexterous manipulator with respect to the frame and the spatial orientation of the dexterous manipulator with respect to a work piece.

22. The method of claim 21, further comprising:

configuring the second drive subsystem to provide locomotion to the second frame;

configuring the second end effector to apply different forces in different directions.

23. The method of claim 22, further comprising:

providing at least one actuation system on each of the first and second frames configured to cause respective articulation of the first and second jointed members and respective articulation of the first and second end effectors supported about the first and second jointed members;

providing an additional actuation system configured to articulate the articulated linkage; and

configuring the articulated linkage to orient the first and second frames into two different vectors.

24. The method of claim 18 , further comprising a magnet operable with at least one of the first and second dexterous manipulators.

25. The method of claim 18, further comprising configuring at least one of the first and second dexterous manipulators with one or more suction cups.

26. The method of claim 18, further comprising configuring at least one of the first and second dexterous manipulators to have a textured surface including microspines.