Spherical mechanism robot assembly, system, and method for accessing a confined space in a vehicle to perform confined space operations

摘要

There is provided a spherical mechanism robot assembly for accessing a confined space in a vehicle, to perform confined space operation(s) in the vehicle. The assembly includes a base structure configured for attachment to the vehicle. The assembly includes a spherical mechanism structure having a first end attached to the base structure, and having a second end. The spherical mechanism structure includes a plurality of mechanical links, joints coupling the plurality of mechanical links together, and a plurality of actuators having one or more actuators coupled at each joint of the plurality of joints. The assembly includes an end effector attached to the second end of the spherical mechanism structure. The assembly is configured such that a majority portion remains outside of the confined space, while a remaining portion of the assembly accesses and occupies the confined space in the vehicle, to perform the confined space operation(s) in the vehicle.