US20080136254A1 - Versatile endless track for lightweight mobile robots - Google Patents

Versatile endless track for lightweight mobile robots Download PDF

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Publication number
US20080136254A1
US20080136254A1 US11/985,346 US98534607A US2008136254A1 US 20080136254 A1 US20080136254 A1 US 20080136254A1 US 98534607 A US98534607 A US 98534607A US 2008136254 A1 US2008136254 A1 US 2008136254A1
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US
United States
Prior art keywords
traction
track
pad
pads
type
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US11/985,346
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English (en)
Inventor
Stephen C. Jacobsen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Raytheon Co
Original Assignee
Raytheon Sarcos LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Raytheon Sarcos LLC filed Critical Raytheon Sarcos LLC
Priority to US11/985,346 priority Critical patent/US20080136254A1/en
Assigned to RAYTHEON SARCOS, LLC reassignment RAYTHEON SARCOS, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: JACOBSEN, STEPHEN C.
Publication of US20080136254A1 publication Critical patent/US20080136254A1/en
Priority to US12/694,996 priority patent/US20100201187A1/en
Priority to US12/820,881 priority patent/US8042630B2/en
Abandoned legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/27—Ground engaging parts or elements having different types of crampons for progression over varying ground
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/28—Ground engaging parts or elements detachable
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S180/00—Motor vehicles
    • Y10S180/901—Devices for traversing vertical surfaces

Definitions

  • the present invention relates to small, unmanned ground robotic vehicles. More particularly, the present invention relates to a versatile endless track for a lightweight robotic vehicle.
  • Unmanned robotic vehicles can be deployed in a variety of applications and environments, including for example, search and rescue, military operations, and industrial operations. Unmanned robotic vehicles can help to avoid the need to expose humans to hazardous environments, such as unstable buildings, military conflict situations, and chemically, biologically, or nuclear contaminated environments.
  • Unmanned robotic vehicles face many challenges when attempting mobility. Terrain can vary widely, including for example, bumpy or smooth surfaces, firm or soft ground, loose and shifting materials, etc. For small robotic vehicles, the challenges become even greater. A vehicle optimized for operation in one environment may perform poorly in other environments.
  • endless tracks are known to provide a good compromise which allows a robotic vehicle to accommodate a large variation in terrain types while maintaining relatively good traction and maneuverability.
  • tank-like vehicles using a pair of parallel endless tracks can provide high stability in some environments.
  • traction performance of endless tracks can be less than desired.
  • traction performance for small robotic vehicles can be poor because the robotic vehicle is relatively lightweight. Little downward force is applied to the endless track, resulting in reduced frictional forces between the endless track and the ground surface.
  • the present invention includes a versatile endless track system for a lightweight robotic vehicle that helps to overcome problems and deficiencies inherent in the prior art.
  • the versatile endless track system includes a flexible track on which a plurality of traction pads are disposed. At least two different traction pad types are included, where each type of traction pad has a different ground-interfacing profile designed to provide traction with respect to ground surfaces having different traction properties.
  • FIG. 1 illustrates a perspective view of a versatile endless track mounted on a lightweight robotic vehicle according to an embodiment of the present invention
  • FIG. 2 illustrates a perspective view of a versatile endless track in accordance with another embodiment of the present invention
  • FIG. 3 illustrates a perspective view of a versatile endless track according to another embodiment of the present invention
  • FIG. 4 illustrates a perspective view of a versatile endless track according to yet another embodiment of the present invention
  • FIG. 5 illustrates a perspective view of one type of traction pad according to an embodiment of the present invention
  • FIG. 6 illustrates a perspective view of another type of traction pad according to an embodiment of the present invention.
  • FIG. 7 illustrates a flow diagram of a method for configuring an endless track with traction pads according to an embodiment of the present invention.
  • the environments faced by lightweight robotic vehicle can be highly variable, as lightweight robotic vehicles may be used indoors or outdoors, on land or water.
  • ground is thus used broadly within the present application to refer generally to the surface on which the lightweight robotic vehicle is operating, which can include ground, vegetation, road surface, flooring, carpet, liquid surfaces, and the like.
  • the highly variable environment encountered by lightweight robotic vehicles differs from that of traditional tracked vehicles, such as tanks or earth working equipment, which typically operate in very limited environments (e.g., outdoors on unprepared surfaces).
  • earth working equipment often includes cleat bars on the tracks to help provide traction in soft or slippery conditions, such as mud or soft ground.
  • the cleat bars sink into and engage with the ground, helping to reduce slippage of the tracks.
  • Good performance is also obtained on hard ground, because the weight of the equipment is sufficiently large to develop large downward forces which translate into high friction (and thus traction) for portions of the track in contact with the ground.
  • a lightweight robotic vehicle is less able to develop large downward force, and thus different approaches to developing traction are required.
  • one approach is to use cleat profiles adapted for developing traction when lightly loaded, such a solution is likely to only perform well over a relatively narrow range of environmental conditions.
  • cleats might perform well when the robotic vehicle is operated over a very soft surface (e.g., sand or soil), but provide very little traction when operated over a very hard, smooth surface (e.g., glass or polished stone).
  • a particular cleat or other traction device configuration is often a compromise solution that performs well over a relatively narrow range of surface conditions.
  • FIG. 1 shown is an illustration of a versatile endless track, according to a first exemplary embodiment of the present invention.
  • the versatile endless track shown generally at 10 , is mounted on a lightweight robotic vehicle 14 , threaded about a plurality of track supports 12 .
  • the track includes a flexible track 16 .
  • Disposed along the flexible track 16 are a plurality of traction pads 18 .
  • Different types 20 , 22 of traction pads are included, each traction pad type having a different exposed ground-interfacing profile designed to provide traction with respect to ground surfaces having different traction properties.
  • An exposed portion 26 of the flexible track 16 engages with the ground when the lightweight robotic vehicle is in operation. It will be appreciated that the exposed portion is constantly changing as the flexible track is rotated around the plurality of track supports. Sufficient traction pads 18 of each type 20 , 22 can be included so that at least one traction pad of each type is present on the exposed ground-engaging portion of the flexible track at all times.
  • the flexible track 16 can be constructed in various ways.
  • the flexible track can be a loop which is slid laterally over the track supports 12 .
  • the track can be a long assembly which is threaded through the track supports after which ends of the flexible track are attached together to form a loop.
  • the flexible track can be an elastic belt, for example of rubber or other elastomeric material.
  • the flexible track can be two or more cables 19 on which the traction pads are threaded as shown in FIG. 2 in accordance with another embodiment of the present invention.
  • the lightweight robotic vehicle 14 includes a drive unit which causes the versatile endless track 16 to rotate about the track supports 12 providing propulsion of the lightweight robotic.
  • one of the track supports can provide a friction drive interface to the flexible track.
  • Friction drive interfaces provide a benefit in that the flexible track need not include gear-like protrusions on the internal surface in order to interface to the drive unit. Friction drive interface is possible for lightweight robotic vehicles because the forces involved are relatively low (as compared, for example, to large heavy vehicles such as a tank or snowmobile).
  • the traction pads 18 can be threaded onto flexible track which is formed from a plurality of cables 19 .
  • the traction pads may be integrally formed with the flexible track, for example by molding the flexible track as single assembly, in accordance with an embodiment of the present invention.
  • the traction pads may be formed of different materials and attached to the flexible track by glue, fasteners, and similar techniques.
  • the traction pads may be removable, allowing for easy replacement or changing of the types of traction pads.
  • FIG. 4 illustrates a particular example of a technique for attaching the traction pads 28 , 29 to the flexible track 16 in accordance with an embodiment of the present invention.
  • the flexible track includes a plurality of receptacles 30 into which the traction pads can be inserted.
  • the traction pads can slide or snap into the receptacles.
  • the traction pads can have a friction fit interface to the receptacle, allowing for manual insertion and removal of the traction pads by a person.
  • a friction fit can be appropriate for the lightweight loading conditions of small robotic vehicles because the forces placed on the traction pad are relatively small.
  • lightweight robotic vehicles generally weigh less than 100 pounds, and typically under 50 pounds, although some lightweight robotic vehicles can weight less than 20 or even 10 pounds.
  • the traction pads 18 can be arranged in a sequential order, for example as illustrated in FIG. 2 , although this is not essential. In other words, for three traction pad types A, B, and C, the traction pads can be arranged in sequence A-B-C-A-B-C . . . all the way around the flexible track. Alternately, the traction pads can be arranged in different orders. For example, it may be desirable to include more of one traction pad type than other traction pad types due to differences in the traction provided. Accordingly, the traction pads may be arranged in a sequence such as A-A-A-B-C-A-A-A-B-C . . . where three traction pads of type A are provided for each traction pad of type B and type C. For example, FIG. 3 illustrates an alternate arrangement of different types of traction pads. Of course, many other arrangements are possible as will occur to one of skill in the art.
  • a versatile endless track 10 having two or more types of traction pads 18 can provide improved traction for a lightweight robotic vehicle 14 in a variety of conditions.
  • endless track configurations have generally presented a uniform ground-interface profile that is a compromise design for a range of surface conditions.
  • the versatile endless track can include multiple traction pads, each traction pad type designed for good performance under specific conditions.
  • different types of traction pads can be defined by their differing ground-interfacing profiles.
  • the flexible track 16 can have two, three, or more differing types of traction pads.
  • a first traction pad type can be designed to provide traction on a soft, friable surface.
  • FIG. 5 illustrates a traction pad 40 designed to help spread the weight of the lightweight robotic vehicle over an area to help avoid breaking the surface which could allow slippage of the track.
  • the traction pad includes a low-profile projecting bar cleat 42 mounted on a substantially flat ground-interfacing surface 44 .
  • a second traction pad type can be designed to provide traction on a hard, slippery surface.
  • FIG. 6 illustrates a sticky-pad 50 designed to provide a large, high coefficient of friction surface.
  • the sticky-pad has a substantially flat ground-interfacing surface 52 which can include grit, non-drying adhesive, or similar high coefficient of friction material.
  • a traction pad design for use on a hard, slippery surface can include one or more suction cups.
  • traction pad types and profiles can be used, including for example, flat pads (e.g., 20 ), cleats (e.g., 22 ), spikes (e.g., 24 ), tread patterns (e.g., 25 ), saw tooth profiles (e.g., 28 ) and water paddles (e.g., 29 ).
  • flat pads e.g., 20
  • cleats e.g., 22
  • spikes e.g., 24
  • tread patterns e.g., 25
  • saw tooth profiles e.g., 28
  • water paddles e.g., 29
  • the individual traction pad types may each be optimized to provide traction with respect to a ground surface having different traction properties.
  • the individual traction pad types need not be compromise designs designed for more than one surface type.
  • the performance of the traction pad in mud or hard ground may be ignored.
  • multiple traction pad types are included on the versatile endless track.
  • one type of traction pads may provide most of the traction while other types provide relatively little traction.
  • the individual traction pads can also be designed to accommodate a range of surface conditions as well. Hence, great flexibility in the versatile endless track is obtained.
  • traction pads can be installed on a lightweight robotic vehicle depending on the environmental conditions expected for a planned operating environment of the lightweight robotic vehicle.
  • a lightweight robotic vehicle which is expected to operate on both solid land and on water, can include a mixture of paddle-type traction pads and cleat-type traction pads.
  • a lightweight robotic vehicle that is expected to operate over a wide variety of surface conditions might include three or more different traction pad types, including for example, sticky-pads, short spikes, long spikes, bar cleats, suction cups, and water paddles.
  • FIG. 7 illustrates a method for configuring an endless track with traction pads in accordance with an embodiment of the present invention.
  • the method shown generally at 70 , includes the step of providing 72 an endless track suitable for mounting a lightweight robotic vehicle. Various materials and configurations of endless tracks are described above.
  • a next step of the method is mounting 74 the endless track on the lightweight robotic vehicle so that a portion of the endless track is exposed for interfacing to a ground surface. Various techniques for mounting the endless track on the lightweight robotic vehicle are described above.
  • the method also includes the step of attaching 76 a plurality of traction pads to the endless track so that at least one of each type of traction pad is included within the exposed portion of the endless track when the lightweight robotic vehicle is operated. For example, the traction pads may be placed in a sequential order as described above.
  • the method can include replacing at least one of the plurality of traction pads with a traction pad of a different type.
  • the lightweight robotic vehicle can be reconfigured for a different operating environment by replacing one type of traction pads with a different type of traction pads.
  • the traction pads types consist of alternating suction cups and spikes, designed to provide good traction on both a smooth, hard surface and a soft, penetrable surface. The spikes might be removed and replaced with sticky pads to provide good traction on both smooth, hard surfaces and rough, hard surfaces.
  • a first configuration having two traction pad types might be rearranged to include a third traction pad type to provide increased versatility.
  • a versatile endless track system in accordance with embodiments of the present invention provides flexibility in the configuration of an endless track for a lightweight robotic vehicle.
  • a mix of different traction pad types can be included which correspond to a range of expected environments, where individual traction pads provide good traction properties under different conditions. Traction pads can be removed and replaced with different traction pad types to adapt the lightweight robotic vehicle to different conditions.
  • the term “preferably” is non-exclusive where it is intended to mean “preferably, but not limited to.” Any steps recited in any method or process claims may be executed in any order and are not limited to the order presented in the claims. Means-plus-function or step-plus-function limitations will only be employed where for a specific claim limitation all of the following conditions are present: a) “means for” or “step for” is expressly recited in that limitation; b) a corresponding function is expressly recited in that limitation; and c) structure, material or acts that support that function are described within the specification. Accordingly, the scope of the invention should be determined solely by the appended claims and their legal equivalents, rather than by the descriptions and examples given above.
US11/985,346 2006-11-13 2007-11-13 Versatile endless track for lightweight mobile robots Abandoned US20080136254A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US11/985,346 US20080136254A1 (en) 2006-11-13 2007-11-13 Versatile endless track for lightweight mobile robots
US12/694,996 US20100201187A1 (en) 2006-11-13 2010-01-27 Versatile Endless Track For Lightweight Mobile Robots
US12/820,881 US8042630B2 (en) 2006-11-13 2010-06-22 Serpentine robotic crawler

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US85880406P 2006-11-13 2006-11-13
US11/985,346 US20080136254A1 (en) 2006-11-13 2007-11-13 Versatile endless track for lightweight mobile robots

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Application Number Title Priority Date Filing Date
US12/694,996 Division US20100201187A1 (en) 2006-11-13 2010-01-27 Versatile Endless Track For Lightweight Mobile Robots
US12/820,881 Continuation US8042630B2 (en) 2006-11-13 2010-06-22 Serpentine robotic crawler

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US20080136254A1 true US20080136254A1 (en) 2008-06-12

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US11/985,346 Abandoned US20080136254A1 (en) 2006-11-13 2007-11-13 Versatile endless track for lightweight mobile robots
US12/694,996 Abandoned US20100201187A1 (en) 2006-11-13 2010-01-27 Versatile Endless Track For Lightweight Mobile Robots
US12/820,881 Active US8042630B2 (en) 2006-11-13 2010-06-22 Serpentine robotic crawler

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US12/694,996 Abandoned US20100201187A1 (en) 2006-11-13 2010-01-27 Versatile Endless Track For Lightweight Mobile Robots
US12/820,881 Active US8042630B2 (en) 2006-11-13 2010-06-22 Serpentine robotic crawler

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US (3) US20080136254A1 (fr)
EP (1) EP2086821B1 (fr)
JP (1) JP5399910B2 (fr)
CN (1) CN101583532B (fr)
AT (1) ATE473907T1 (fr)
DE (1) DE602007007807D1 (fr)
IL (1) IL198712A (fr)
WO (1) WO2008076192A2 (fr)

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US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
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US8002716B2 (en) 2007-05-07 2011-08-23 Raytheon Company Method for manufacturing a complex structure
US8571711B2 (en) 2007-07-10 2013-10-29 Raytheon Company Modular robotic crawler
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
WO2011017668A2 (fr) * 2009-08-06 2011-02-10 The Regents Of The University Of California Systèmes robotiques dynamiques multimodaux
JP5542092B2 (ja) * 2011-05-12 2014-07-09 学校法人千葉工業大学 無人走行用移動体
US8393422B1 (en) * 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
WO2016130565A1 (fr) 2015-02-09 2016-08-18 The Regents Of The University Of California Robot d'équilibrage à billes et ensemble d'entraînement associé
US9927060B2 (en) 2015-04-22 2018-03-27 The Johns Hopkins University Vehicle for navigating within an enclosed space
US10071303B2 (en) 2015-08-26 2018-09-11 Malibu Innovations, LLC Mobilized cooler device with fork hanger assembly
US10807659B2 (en) 2016-05-27 2020-10-20 Joseph L. Pikulski Motorized platforms
US10023250B2 (en) * 2016-06-10 2018-07-17 The Boeing Company Multi-tread vehicles and methods of operating thereof
CN106143664B (zh) * 2016-08-15 2018-06-22 湖南农业大学 履刺高度可调式履带行走装置
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EP2086821B1 (fr) 2010-07-14
WO2008076192A3 (fr) 2008-08-28
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JP5399910B2 (ja) 2014-01-29
CN101583532A (zh) 2009-11-18
EP2086821A2 (fr) 2009-08-12
IL198712A0 (en) 2010-02-17
WO2008076192A2 (fr) 2008-06-26
US8042630B2 (en) 2011-10-25
CN101583532B (zh) 2012-06-13
ATE473907T1 (de) 2010-07-15
JP2010509126A (ja) 2010-03-25
US20100258365A1 (en) 2010-10-14
US20100201187A1 (en) 2010-08-12

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