| 摘要 |
A limited mobility transporter (10) is disclosed having a linkage mechanism (12) with four links (14,16,18,20) pivotally connected at their ends to form a four bar linkage. Engagers (22) are mounted at pivotal connections (A,B,C,D) of the links (14,16,18,20) for selectively engaging a mounting surface (24). An actuator assembly (26) rotates the links (14,16,18,20) about the engaged pivotal connections (A,B,C,D). A programmable controller (28) controls a sequence of movements whereby the transporter (10) is movable about the mounting surface (24) by simultaneous engagement of selected engagers (22) and rotation of the links (14,16,18,20) about the selected engagers (22) in a coplaner fashion to the mounting surface (24). In one embodiment, the engagers (22) comprise a shot pin assembly and the mounting surface (24) includes receptacles for receiving the shot pins. In other embodiments, the engagers (22) are electromagnetic anchors or suction cups. The mounting surface (24) is ferromagnetic or includes ferromagnetic inserts when the electromagnetic anchors (22) are used.
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