Mechanism that assists tractoring on uniform and non-uniform surfaces

A linkage mechanism for substantially conforming to the configuration of at least one adjacent surface and maintaining contact therewith, comprising:

• a central link;
• a saddle link disposed in spaced relation with said central link for contact with the adjacent surface and having variable angular and spacing relationship with said central link by force of geometric changes encountered during movement of said saddle link along the adjacent surface;
• a pair of front links each having pivotal connection with said saddle link and having linearly movable pivotal connection with said central link and assuming positions responsive to angular and spacing changes of said saddle link relative to said central link;
• and
• a pair of centralizer links located between said front links and having pivotal connections with said saddle link and first and second pivotal connections with said central link, said first pivotal connection being linearly movable on said central link.

A tractor mechanism for engagement with a tractored surface, comprising:

• a tractor body defining a central link;
• a plurality of tractored surface engaging mechanisms mounted to and radiating from said tractor body and angularly spaced around said tractor body, each of said plurality of tractored surface engaging mechanisms comprising:
• a saddle link disposed in spaced relation with said tractor body and disposed for contact with the tractored surface;
• first and second front links each having pivotal connection with said saddle link and having linearly movable pivotal connection with said tractor body at spaced locations;
• first and second centralizer links each having pivotal connection with said saddle link, said first centralizer link having linearly movable pivotal connection with said tractor body and said second centralizer link having pivotal connection with said tractor body;
• and wherein
• said saddle link is movable responsive to reaction force of the tractored surface to assume angular orientation with respect to said tractor body and substantially conform to the tractored surface.