International Institute of Information Technology, Hyderabad

Vinay Rodrigues

Madhava Krishna

Akash Singh

Enna Sachdeva

A telescopic differential screw mechanism based 3-DOF Parallel Manipulator system to enable differential length and omnidirectional bending is provided. The telescopic differential screw mechanism based 3-DOF Parallel Manipulator system includes a first circular rotating plate, a second circular rotating plate, three or more telescopic screw assembliesA-C and three or more actuatorsA-C. Each telescopic screw assemblyincludes a pair of master screws, a pair of successive screwsand a universal joint. The three or more telescopic screw assembliesA-C are actuated differentially using the three or more actuatorsA-C to achieve omnidirectional bending with high angular rotations in a range of 0 to 75 degree.

Telescopic differential screw mechanism based 3-DOF-parallel manipulator platform to achieve omnidirectional bending

A multidirectional locomotive module with omnidirectional bending that is compliant along multiple axis is provided. The locomotive module includes, (A) a first part that includes (i) one or more circular rigid components which are coupled using a two degree of freedom joint, (ii) bending actuator that actuates the two degree of freedom joint enabling bending of the multidirectional locomotive module to an angle ranging from 0 to 90 degrees about a Z-axis in a direction to achieve surface compliance with an external surface, and (B) a second part that is elongated in shape with circular cross-section along a surface length and hemispherical in shape an end portion with a surface that is formed by a power transmission sprocket chain and an arrangement of curved components enabling sideways rolling of the multidirectional locomotive module, also enabling wheeled and legged locomotion in vertical position.

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Hyderabad Telangana, India

Vinay Rodrigues