公开(公告)号：US20130068527A1

公开(公告)日：2013-03-21

申请号：US13623047

申请日：2012-09-19

Applicant: CALIFORNIA INSTITUTE OF TECHNOLOGY

Inventor： Aaron PARNESS ,  Matthew A. FROST ,  Nitish THATTE ,  Jonathan P. KING

IPC: B62D57/024 ,  E21B7/00

CPC classification number: B28D7/00 ,  B25D17/28 ,  B25D2250/221

Abstract: Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system.

Abstract translation: 描述了重力独立夹紧和钻孔的系统和方法。 夹持装置还可以包括用于在微重力环境中或在存在重力的环境中的垂直或倒置表面上的钻孔和/或取样的钻头或取样装置。 机器人系统可以通过适于分配从机器人系统实现的力的踝接口与夹紧和钻孔装置连接。

公开(公告)号：US20140227473A1

公开(公告)日：2014-08-14

申请号：US14177973

申请日：2014-02-11

Applicant: CALIFORNIA INSTITUTE OF TECHNOLOGY

Inventor： Aaron PARNESS ,  Brett A. KENNEDY ,  Matthew C. HEVERLY

IPC: B32B7/08 ,  B32B7/12

CPC classification number: B32B7/12 ,  B25J15/0052 ,  B25J15/008 ,  Y10T428/21 ,  Y10T428/24025

Abstract: Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles.

Abstract translation: 公开了基于范德华力粘合力的新型夹持结构。 用纤维覆盖的垫可以通过相反的力成对地激活，从而能够在打开或关闭状态下控制粘合力。 垫可以分组使用，每个包括一组相对的垫。 粘合剂结构使得能够抵抗来自不同方向的不利力的锚定力。 粘合剂结构可用于使机器人在空间车辆表面上的操作。

公开(公告)号：US20140203623A1

公开(公告)日：2014-07-24

申请号：US14207337

申请日：2014-03-12

Applicant: CALIFORNIA INSTITUTE OF TECHNOLOGY

Inventor： Aaron PARNESS ,  Kalind C. CARPENTER ,  Nicholas WILTSIE

IPC: B60B15/00

CPC classification number: B62D57/024 ,  B60B9/12 ,  B60B15/025 ,  B60B2900/721 ,  B60Y2200/46 ,  B60Y2200/47 ,  B60Y2200/48

Abstract: A terrain traversing device is described. The device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface. Improvements related to the design, fabrication and use of the microspine hooks in the device are also described.

Abstract translation: 描述了一个地形运动装置。 该装置包括环形转子元件，其具有布置在环形转子元件的周边上的多个共面微型小钩。 每个微型小钩具有独立的柔性悬挂结构，其允许微型钩以预定的初始接合角度初始地接合在地形表面中的不规则性，并且随后当环形转子元件旋转以促使 地形横移装置横穿地形。 还描述了与装置中的微型钩的设计，制造和使用相关的改进。