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US 2008/0167752 A1Published application
Tracked robotic crawler having a moveable arm
AssigneeRaytheon Company
InventorStephen C. Jacobsen
Life of this patent
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Abstract
A tracked robotic crawler capable of multiple movement moves is disclosed. In one embodiment, the tracked robotic crawler includes at least one frame unit, the frame unit having a continuous track rotatably coupled thereto. Disposed on the at least one frame unit is at least one articulated arm, the arm being movable relative to the frame unit in at least one dimension. The articulated arm helps to improve mobility of the tracked robotic crawler in various environments.
Claims25
A tracked robotic crawler comprising:
- a plurality of frame units, each frame unit having a continuous track rotatably coupled to the frame unit with at least one surface of the continuous track being exposed to enable engagement with a surface for propulsion of the frame unit;
- at least one actuated linkage coupling the frame units in a series configuration, the actuated linkage having at least one actuated joint configured to provide controllable bending about at least one axis;
- and
- at least one arm disposed on one of the plurality of frame units forming an armed frame unit and being movable relative to the armed frame unit in at least one dimension.
1 more element
A method of operating a tracked robotic crawler over a surface comprising the steps of:
- (a) providing a first frame and a second frame, each frame having a continuous track with an exposed area for engagement with the surface, wherein at least one continuous track is coupled to a drive source to provide rotation of the continuous track;
- (b) providing at least two articulated arms, an arm attached to each of the first frame and the second frame, the arms independently moveable in at least one dimension relative to each other and relative to their corresponding frames;
- (c) providing an actuated multi-degree of freedom linkage arm coupled between the first frame and the second frame;
- and
- (d) coordinating rotation of the continuous track, movement of the articulated arms, and actuation of the multi-degree of freedom linkage arm to control pose and movement of the tracked robotic crawler over the surface.
2 more elements
Dependencies are inferred from the claim text.