发明申请
- 专利标题: SELF-RECONFIGURABLE MOBILE MANIPULATOR
- 专利标题(中): 自动可重新配置的移动操纵器
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申请号: US13880137申请日: 2010-10-18
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公开(公告)号: US20130306384A1公开(公告)日: 2013-11-21
- 发明人: Cédric Baradat , Hai Yang , François Pierrot , Sébastien Krut , Agustin Saenz
- 申请人: Cédric Baradat , Hai Yang , François Pierrot , Sébastien Krut , Agustin Saenz
- 申请人地址: FR Paris Cedex 16 FR Montpellier
- 专利权人: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE,TECNALIA FRANCE
- 当前专利权人: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE,TECNALIA FRANCE
- 当前专利权人地址: FR Paris Cedex 16 FR Montpellier
- 国际申请: PCT/EP2010/065630 WO 20101018
- 主分类号: B25J5/00
- IPC分类号: B25J5/00
摘要:
A manipulator including a mobile plate for carrying an end-effector, connected to a plurality of legs, each of which has a distal end connected to the mobile plate and a proximal end connected to a supporting object by a clamping device, a plurality of distal links, a plurality of intermediate links and a plurality of proximal links, an actuator connected between each pair of longitudinally adjacent intermediate links, the distal links, connecting the intermediate links with the mobile plate by a system of distal revolute joints including a distal lockable joint, and the proximal links, connecting the intermediate links with a system of proximal joints having lockable proximal joints, where the manipulator is able to achieve manipulation, self-reconfiguration and locomotion movements without needing actuators directly acting on each joint.
公开/授权文献
- US08668034B2 Self-reconfigurable mobile manipulator 公开/授权日:2014-03-11