Motor vehicles – Special driving device – Stepper
Reexamination Certificate
1999-05-06
2001-10-30
Boehler, Anne Marie (Department: 3618)
Motor vehicles
Special driving device
Stepper
C180S007100, C901S001000
Reexamination Certificate
active
06308791
ABSTRACT:
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is related to applications titled “Hopping Robot,” “Miniature High Pressure Electrically Operated Valve,” “Passive Orientation Apparatus,” and “Misfire Tolerant Combustion-powered Actuation,” filed concurrently.
BACKGROUND OF THE INVENTION
This invention relates to the field of mobile robots, specifically the translation of vertical actuation to horizontal translation of a mobile robot.
Robots are conventionally made mobile by wheels, tracks, or legs. Examples of wheeled robots include the RATLER™ robots from Sandia National Laboratories. Examples of legged robots include those developed at Los Alamos National Laboratory. Conventional wheeled, tracked, and legged robots are used in a wide variety of applications.
Conventional robots have limited ability to traverse large obstacles, however. Obstacles much taller than the robot can prevent passage. Also, obstacles with significant horizontal gaps such as trenches can also prevent passage. One solution is to use bigger wheels and a bigger wheelbase. Larger wheels and wheelbase require more drive power, so the entire robot must be larger. Many applications, however, have cost, size, space, or transportation constraints that limit the size of robot than can be used.
One alternative to conventional mobility is hopping mobility. With hopping mobility, the robot jumps to move. Each jump is typically multiples of the robot's dimensions in height and width. Accordingly, the robot can hop over obstacles much larger than a similarly sized conventional robot could traverse. Hopping mobility can allow a small robot to traverse obstacles very large in relation to the robot itself, opening up applications that can not be addressed by conventional robots.
One of many difficulties encountered by contemporary proposed hopping robot designs is providing steerable horizontal mobility to accompany the vertical hopping actuation. The hopping mechanism typically generates a force impulse along an actuation axis. The usual technique involves a two degree of freedom tilt mechanism: the tilt mechanism orients the actuation axis along the desired initial trajectory of the hop. The force impulse then propels the robot along the desired initial trajectory. Two degree of freedom tilting mechanisms can be mechanically complex and can require significant power to operate. Mechanical complexity means increased system cost and weight, and consequently reduced system applicability and range. The power required to operate the tilting mechanism is power not available for other robot functions, and thus detracts from the range or functionality of the robot.
Accordingly, there is a need for a steerable vertical to horizontal energy transducer for mobile robots that less complex and requires less power than two degree of freedom tilt mechanisms.
SUMMARY OF THE INVENTION
The present invention provides a steerable vertical to horizontal energy transducer for mobile robots that is less complex and requires less power than two degree of freedom tilt mechanisms. The present invention comprises an end effector that, when mounted with a hopping actuator, translates along axis (typically vertical) actuation into combined vertical and horizontal motion. The end effector, or foot, mounts with an end of the actuator that moves toward the support surface (typically a floor or the earth). The foot is shaped so that the first contact with the support surface is off the axis of the actuator. Off-axis contact with the support surface generates an on-axis force (typically resulting in vertical motion) and a moment orthogonal to the axis. The moment initiates a horizontal tumbling motion, and tilts the actuator so that its axis is oriented with a horizontal component and continued actuation generates both vertical and horizontal acceleration.
The use of an appropriately-shaped foot allows one direction of tilt to be fixed by the foot, obviating one of the conventional approach's required degrees of freedom. Directing the motion in a specific direction with the present invention involves the simple rotation of the foot, a single degree of freedom actuation well suited for low cost, low energy actuation.
Advantages and novel features will become apparent to those skilled in the art upon examination of the following description or may be learned by practice of the invention. The objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.
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Porter-Cable, Cordless Finish Nailer Instruction Manual.
Feddema John T.
Fischer Gary J.
Spletzer Barry L.
Boehler Anne Marie
Grafe V. Gerald
Sandia Corporation
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