公开(公告)号：US20130306384A1

公开(公告)日：2013-11-21

申请号：US13880137

申请日：2010-10-18

申请人： Cédric Baradat ,  Hai Yang ,  François Pierrot ,  Sébastien Krut ,  Agustin Saenz

发明人： Cédric Baradat ,  Hai Yang ,  François Pierrot ,  Sébastien Krut ,  Agustin Saenz

IPC分类号： B25J5/00

CPC分类号： B25J5/00 ,  B25J9/0045 ,  B25J9/08 ,  B25J17/0266

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.

摘要翻译： 一种操纵器，包括用于承载端部执行器的移动板，连接到多个支腿，每个支腿具有连接到移动板的远端和通过夹紧装置连接到支撑物体的近端，多个远端 连杆，多个中间连杆和多个近端连杆，连接在每对纵向相邻中间连杆之间的致动器，远端连杆，通过远端旋转接头系统将中间连杆与移动板连接，该系统包括远端可锁定接头 以及近端连杆，将中间连杆与具有可锁定的近侧关节的近侧关节系统连接，其中操纵器能够实现操纵，自重构和运动运动，而不需要直接作用在每个关节上的致动器。

公开(公告)号：US08668034B2

公开(公告)日：2014-03-11

申请号：US13880137

申请日：2010-10-18

申请人： Cédric Baradat ,  Hai Yang ,  François Pierrot ,  Sébastien Krut ,  Agustin Saenz

发明人： Cédric Baradat ,  Hai Yang ,  François Pierrot ,  Sébastien Krut ,  Agustin Saenz

IPC分类号： B62D57/00

CPC分类号： B25J5/00 ,  B25J9/0045 ,  B25J9/08 ,  B25J17/0266

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.

摘要翻译： 一种操纵器，包括用于承载端部执行器的移动板，连接到多个支腿，每个支腿具有连接到移动板的远端和通过夹紧装置连接到支撑物体的近端，多个远端 连杆，多个中间连杆和多个近端连杆，连接在每对纵向相邻中间连杆之间的致动器，远端连杆，通过远端旋转接头系统将中间连杆与移动板连接，该系统包括远端可锁定接头 以及近端连杆，将中间连杆与具有可锁定的近侧关节的近侧关节系统连接，其中操纵器能够实现操纵，自重构和运动运动，而不需要直接作用在每个关节上的致动器。