摘要 |
<p>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.</p> |
申请人 |
TECNALIA FRANCE;CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE |
发明人 |
BARADAT, CÉDRIC;YANG, HAI;PIERROT, FRANÇOIS;KRUT, SÉBASTIEN;SAENZ, AGUSTIN |