Patent ID: 6450104
Filing Date: 2002-09-17
Classification: B08B,E21B,F16L,G01M,G21C,Y02E,Y10T

Abstract:
A robotic apparatus adapted for locomotion in an enclosed space comprising:(a) a front segment including a front work-energy transfer device mounted thereto in operative communication with a power supply source, a plurality of front radial displacement members extending radially outwardly with respect to the front segment, and a front mechanical linkage interconnecting the front work-energy transfer device and each front radial displacement member to translate axial motion of the front work-energy transfer device into radial motion of each front radial displacement member; (b) a medial segment including first and second medial work-energy transfer devices mounted thereto in operative communication with the power supply source, the first medial work-energy transfer device including a first axial translation member and the second medial work-energy transfer device including a second axial translation member disposed in opposing axia relation to the first axial translation member to enable expansion and contraction of an overall length of the medial segment; (c) a first flexible coupling interconnecting the front segment and the first axi; translation member; (d) a rear segment including a rear work-energy transfer device mounted thereto in operative communication with the power supply source, a plurality of rear radial displacement members extending radially outwardly with respect to the rear segment, and a rear mechanical linkage interconnecting the rear work-energy transfer device and each rear radial displacement member to translate axial motion of the rear work-energy transfer device into radial motion of each rear radial displacement member; and (e) a second flexible coupling interconnecting the second axial translation member and the rear segment.