Serpentine robotic crawler for performing dexterous operations

摘要

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.

主权项

1. A serpentine robotic crawler, comprising:
at least one frame; at least one dexterous manipulator supported about the frame, the dexterous manipulator comprising:
a jointed member moveable about at least one degree of freedom, and an end effecter moveable by the jointed member, wherein the dexterous manipulator is moveable in at least two degrees of freedom, and facilitates performance of a dexterous operation; a second frame; an articulating linkage coupling the at least one frame and the second frame, the articulating linkage having at least one articulating joint; and a second dexterous manipulator supported about the second frame and moveable within at least two degrees of freedom to facilitate a dexterous operation, wherein the at least one dexterous manipulator and the second dexterous manipulator perform individual dexterous operations that are coordinated with one another.