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GRAVITY COMPENSATION FOR SELF-PROPELLED ROBOTIC VEHICLES CRAWLING ON NON-LEVEL SURFACES
GRAVITY COMPENSATION FOR SELF-PROPELLED ROBOTIC VEHICLES CRAWLING ON NON-LEVEL SURFACES
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机译:非水平面上自行走机器人履带的重力补偿
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摘要
Apparatus and methods for providing gravity compensation to a cable-suspended, vacuum-adhered, tool-equipped crawler vehicle traveling along and following the contour of a non-level surface during the execution of an automated maintenance operation. One technical feature shared by multiple embodiments of the gravity-compensating systems is that a cable spool is operated to wind a portion of the cable from which the vacuum-adhered crawler vehicle is suspended to generate a tensile force that counteracts a gravitational force being exerted on the crawler vehicle during movement. Rotation of the cable spool may be driven by a motor or by a tensioning spring.
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