MULTI-UNIT MOBILE ROBOT

摘要

A multi-unit mobile robot comprising a plurality of separate carriages or units linked together by linkages. Each unit comprises hinged first and second segments which facilitates pitch relative motion between the segments. By controlling actuators to the hinges, one can cause the robot to coil around and compress against the exterior, or compress against the interior, of an object. The linkage between mobile units facilitates at least one of lateral pivot or yaw relative motion between units, and optionally roll. Each hinged platform is carried by a pair of Mecanum wheels, which facilitate movement in any direction. Preferably, alternating units are of differing widths, and the wheels on the units are sufficiently large that they capable of overlapping, thereby enabling the robot to navigate very sharp edges or corners in the surface of an object being traversed by the robot, with the wheels always maintaining contact with the surface being traversed.