The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 02, 2013
Filed:
Aug. 27, 2012
Amirpasha Peyvandi, Lansing, MI (US);
Parviz Soroushian, Okemos, MI (US);
Jue LU, Okemos, MI (US);
Metna Co., Lansing, MI (US);
Abstract
The present invented mechanism comprises more than two (legs) with phase difference (like polygon-shape, ellipse-shape, and etc) between their rotation angles to produce pre-loading for improved adhesion. Two rigid plates covered with adhesives are attached to each phase difference wheel. Each plate connects to the wheels via a hinge embodying a torsional spring, which forces the plate back to its original position after each contact with surface. The phase difference wheels are made of elastic materials for application of controlled pre-loads at contact surfaces during locomotion. The difference between height and width of each wheel as well as the elastic properties of the materials determine the pre-load pressure applied during locomotion. The pre-load pressure is not strongly dependent on the orientation of locomotion. This enables locomotion in vertical, inclined and even upside-down orientation and also in the non-gravity environment.