Serpentine Robotic Crawler Articulated Segments Confined Spaces
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Solution Overview
Problem
Existing unmanned ground vehicles face challenges in traversing diverse terrains and navigating complex obstacles, as well as performing tasks that require controlled manipulation of objects or force balancing in multiple directions, limiting their versatility and ability to operate in confined spaces.
Innovation Solution
A serpentine robotic crawler equipped with multiple dexterous manipulators and a continuous track system, allowing for articulation and reconfiguration to assume a low profile for navigating confined spaces and perform dexterous operations such as grasping, climbing, and manipulating objects using end effectors that can apply forces in multiple directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If large vehicles are used to handle obstacles better, then obstacle surmounting capability is improved, but the ability to negotiate narrow passages and crawl inside pipes deteriorates
Solution Approach 1:
The vehicle body is divided into multiple articulated segments that can flex and bend relative to each other, allowing the vehicle to contort its shape to fit through narrow passages while maintaining the capability to surmount obstacles when in extended configuration
Solution Approach 2:
The vehicle employs dynamic articulation between segments and adjustable track tension to transition between rigid obstacle-surmounting mode and flexible narrow-passage mode, enabling adaptation to different terrain requirements
2Adaptability or versatility
If small vehicles are used to be more discrete and negotiate certain paths better, then discreteness and path negotiation are improved, but the ability to surmount obstacles deteriorates
Solution Approach 1:
The patent combines the advantages of small vehicles (discreteness, narrow path negotiation) with obstacle-surmounting capabilities by integrating articulated segments with track propulsion systems and dexterous manipulators into a single unified platform
3Stability of the object's composition
If tracked vehicles are used to provide high stability, then stability is improved, but maneuverability on small vehicles deteriorates
Solution Approach 1:
The tracked vehicle is segmented into multiple independently controllable modules, each with its own propulsion capability, allowing the vehicle to perform complex maneuvers such as twisting, bending, and reconfiguring while maintaining stability through coordinated control of individual segments
4Device complexity
If simple legged or wheeled robots are used, then device complexity is reduced, but the ability to manipulate complex obstacles deteriorates
Solution Approach 1:
The vehicle integrates multiple functions including locomotion via articulated track propulsion, manipulation via dexterous manipulators with end effectors, and navigation via sensors and processors into a single multi-functional platform capable of performing diverse tasks from climbing to fine motor operations
Data Source
AI summary
A serpentine robotic crawler having multiple dexterous manipulators supported about multiple frame units. The frame units are connected via an articulating linkage at proximal ends wherein the articulating linkage is capable of positioning the frames into various configurations. Dexterous manipulators are coupled to distal ends of the frame units and are positionable via the articulating linkage and articulating joints therein into various positions about the frame ends. The configurations and positioning of the dexterous manipulators allows the robotic crawler to perform coordinated dexterous operations.