Patent ID: 6603281
Filing Date: 2003-08-05
Classification: B25J,G05B

Abstract:
A controllable ratcheting apparatus having robotic modules rigidly attached for operation near a mechanical singularity, comprising:a plurality of modular joints, wherein each one of said plurality of modular joints alternately locks and unlocks to effect performance of a ratcheting motion as said modular joint approaches a point of mechanical singularity; a plurality of links movably connected to said modular joints, to permit movement of said links while experiencing large external forces as said modular joint approaches a point of mechanical singularity; ratcheting means, wherein said ratcheting means comprises: at least one pawl controllably attached to a first one of said plurality of links; a first set of saw teeth rigidly attached to a second one of said plurality of links, for catching said pawl when said first set of saw teeth are rotated in a first direction; a second pawl controllably attached to said first one of said plurality of links; and a second set of saw teeth rigidly attached to said second one of said plurality of links, for catching said second pawl when said second set of saw teeth are rotated in a second direction opposed to said first direction; and a control system to control movement of said modular joints and said links.