Self-reconfigurable mobile manipulator
US8668034B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Oct 18, 2010 |
| Grant date | Mar 11, 2014 |
| Priority date | — |
| Expiry date | Oct 18, 2030 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J17/0266
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.