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    Robotic platform
    1.
    发明授权
    Robotic platform 有权
    机器人平台

    公开(公告)号：US09573638B2

    公开(公告)日：2017-02-21

    申请号：US11834290

    申请日：2007-08-06

    申请人： Chikyung Won

    发明人： Chikyung Won

    IPC分类号： B62D55/065 ,  B62D55/075 ,  B62D55/116 ,  B25J5/00 ,  B62D55/12 ,  B62D55/14 ,  B62D55/24 ,  B25J11/00

    CPC分类号： B62D55/0655 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D55/075 ,  B62D55/12 ,  B62D55/14 ,  B62D55/244 ,  Y10S180/901 ,  Y10S280/901

    摘要： An articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis. The main section is contained within the volume defined by the main tracks and is symmetrical about a horizontal plane, thereby allowing inverted operation of the robot.

    摘要翻译： 一种铰接的跟踪车辆，其具有包括主框架和前部的主要部分。 主框架具有两侧和前端，并且包括一对平行的主轨道。 每个主轨道包括耦合到主框架的相应侧的柔性连续带。 前部包括细长臂。 臂的一端围绕主要垂直于主框架的侧面的横向轴线枢转地联接到主框架的前端附近的主框架。 臂具有足够长的长度，以允许前部在臂的至少一定程度的旋转中延伸到主部下方，并且长度短于主部的长度。 主要部分的质心位于臂的端部绕其横向轴线枢转的最后点之前。 主要部分包含在由主轨道限定的体积内，并且关于水平面对称，从而允许机器人的反转操作。

    Operating a Mobile Robot
    3.
    发明申请
    Operating a Mobile Robot 有权
    操作移动机器人

    公开(公告)号：US20120185096A1

    公开(公告)日：2012-07-19

    申请号：US13032390

    申请日：2011-02-22

    申请人： Michael Rosenstein ,  Steven V. Shamlian ,  Chikyung Won ,  Michael Halloran ,  Mark Chiappetta ,  Thomas P. Allen

    发明人： Michael Rosenstein ,  Steven V. Shamlian ,  Chikyung Won ,  Michael Halloran ,  Mark Chiappetta ,  Thomas P. Allen

    IPC分类号： G05B15/00

    CPC分类号： B25J5/007 ,  B25J11/009 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  Y10S901/01

    摘要： A method of operating a mobile robot to traverse a threshold includes detecting a threshold proximate the robot. The robot includes a holonomic drive system having first, second, and third drive elements configured to maneuver the robot omni-directionally. The method further includes moving the first drive element onto the threshold from a first side and moving the second drive element onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.

    摘要翻译： 操作移动机器人横穿阈值的方法包括检测机器人附近的阈值。 该机器人包括一个完整的驱动系统，其具有被配置成全方向地操纵机器人的第一，第二和第三驱动元件。 该方法还包括将第一驱动元件从第一侧移动到阈值上并将第二驱动元件移动到阈值上以将第一和第二驱动元件都置于阈值上。 该方法包括将第一驱动元件移离阈值的第二侧，与阈值的第一侧相反，并将第三驱动元件移动到阈值上，将第二和第三驱动元件都置于阈值上。 该方法包括将第二和第三驱动元件移动离开阈值的第二侧。

    Robotic Platform
    5.
    发明申请
    Robotic Platform 有权
    机器人平台

    公开(公告)号：US20090107738A1

    公开(公告)日：2009-04-30

    申请号：US12347406

    申请日：2008-12-31

    申请人： Chikyung Won

    发明人： Chikyung Won

    IPC分类号： B62D55/065 ,  B62D55/075

    CPC分类号： B62D55/0655 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D55/075 ,  B62D55/12 ,  B62D55/14 ,  B62D55/244 ,  Y10S180/901 ,  Y10S280/901

    摘要： An articulated vehicle including a main frame, a drive system disposed on the main frame, and at least one arm having a proximal end and a distal end. The proximal end of the at least one arm being pivotally coupled to the main frame and the distal end being pivotable above the surface. The vehicle also including an articulator motor disposed on the main frame and coupled to the at least one arm for pivoting the at least one arm above the surface and about the transverse axis, and a slip clutch coupled between the articulator motor and the at least one front arm for enabling rotation of the at least one front arm without rotation of the articulator drive motor when a torque between the at least one front arm and the main frame exceeds a threshold torque.

    摘要翻译： 一种关节式车辆，包括主框架，设置在主框架上的驱动系统以及具有近端和远端的至少一个臂。 所述至少一个臂的近端枢转地联接到所述主框架，并且所述远端可在所述表面上方枢转。 所述车辆还包括设置在所述主框架上并且连接至所述至少一个臂的关节运动器马达，用于使所述至少一个臂在所述表面和所述横向轴线上方枢转，以及滑动离合器，其联接在所述关节运动器马达与所述至少一个 前臂，用于当所述至少一个前臂和所述主框架之间的扭矩超过阈值扭矩时，使所述至少一个前臂的旋转不转动所述关节运动器驱动马达。

    Wheeled platforms
    7.
    发明授权
    Wheeled platforms 有权
    轮式平台

    公开(公告)号：US06662889B2

    公开(公告)日：2003-12-16

    申请号：US09826209

    申请日：2001-04-04

    申请人： Thomas L. De Fazio ,  David S. Barrett ,  Chikyung Won ,  Selma Slipichevich

    发明人： Thomas L. De Fazio ,  David S. Barrett ,  Chikyung Won ,  Selma Slipichevich

    IPC分类号： B62D6110

    CPC分类号： B62D57/02 ,  B60G2300/45 ,  B62D57/024 ,  B62D61/10 ,  B62D61/12

    摘要： A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

    摘要翻译： 公开了一种轮式平台100，其特征在于高移动性和可靠性，并且可以用于广泛的应用，包括运输和机器人设备。 轮式平台100具有前部和后部主体部分130,132，每个主体部分130,132具有第一和第二侧面106,108。重叠轮112,114,116,118可旋转地附接到第一侧面106和重叠的轮子120 122,124,126可旋转地附接到第二侧面108.前身部分130可以经由铰接元件133连接到后身部分132。