Mobile robot with hybrid traction and mobility mechanism

摘要

A robot has a track assembly having tracks configured to move the robot in a first direction and a wheel assembly having wheels configured to move the robot in a second direction orthogonal to the first direction. A toggling assembly switches between the track assembly and the wheel assembly. The robot modules can mate with each other. The robot module has an elongated shaft with a head and a narrow neck. The shaft extends outward from the side of the robot module. A mating robot module has a clamping mechanism with opposing clamps which in an opened position receive the shaft. In a closed position, the clamps define an opening which matches and engages the cross-section of the neck of the elongated shaft. The clamping mechanism has a drive mode to drive the module, a clamping mode for docking, and neutral mode for alignment prior to clamping.

主权项

1. A structurally symmetric vehicle comprising:
a track assembly symmetric about three orthogonal planes having tracks configured to move the robot in a first direction; a wheel assembly symmetric about three orthogonal planes having wheels configured to move the robot in a second direction substantially orthogonal to the first direction; a toggling assembly configured to operatively switch between the track assembly for mobility on uneven and rugged terrain and the wheel assembly for mobility on flat and paved terrain; wherein the toggling assembly raises and lowers the wheel assembly with respect to the track assembly.