Hybrid suspension and tension mechanism for mobile robots

Abstract

A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.

1 . A mobile robot comprising:
 a chassis; and
 a pair of track drive pulley systems, one on each side of the chassis, each track drive pulley system having a front and back pulley, a track, and a plurality of top and bottom spaced apart planetary supporting pulleys, each pulley having a tension and suspension mechanism. 
   
     
     
         2 . A mobile robot as claimed in  claim 1  wherein the plurality of planetary supporting pulleys are divided into a top facing set and a bottom facing set and wherein the top facing set acts as a tension mechanism for the tracks and the bottom facing set acts as a suspension mechanism. 
     
     
         3 . A mobile robot as claimed in  claim 2  wherein the top facing set and the bottom facing set are interchangeable between tension and suspension. 
     
     
         4 . A mobile robot as claimed in  claim 1  wherein each tension and suspension mechanism includes a compression spring seated in a spring housing and wherein the tension and suspension mechanism restricts an upward and a downward displacement to a predetermined value.