公开(公告)号：US5257669A

公开(公告)日：1993-11-02

申请号：US843861

申请日：1992-02-10

申请人： James J. Kerley ,  Wayne D. Eklund ,  Edward L. May

发明人： James J. Kerley ,  Wayne D. Eklund ,  Edward L. May

IPC分类号： B25J5/00 ,  B62D57/024

CPC分类号： B62D57/024 ,  B25J5/00

摘要： A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having a first "U" frame member, a second "U" frame member, a compliant joint between the first "U" frame member and the second "U" frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the second "U" frame member for adherence of the segment to the surface, an inter-segment attachment attached to the first "U" frame member for interconnecting the segments, a power source connected to the linear actuators, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

摘要翻译： 一种移动机器人，用于横穿由多个相互连接的段组成的任何表面，每个互连段具有第一“U”框架构件，第二“U”框架构件，第一“U”框构件与第二“ U“框架构件，两个框架构件之间的许多线性致动器用于在框架构件之间提供相对位移，附接到第二”U“框架构件的脚用于将段附着到表面，段间附接 连接到第一“U”框架构件用于互连段，连接到线性致动器的电源，以及用于独立地控制每个互连段中的每个线性致动器的计算机/控制器，使得移动机器人以类似卡车的方式移动。