US 12,285,859 B2
Mechanical avatar assembly and system for use in a confined space in a structure and method of using the same
Jerry D. Chungbin, Kenmore, WA (US); Shuonan Dong, Seattle, WA (US); John W. Fuller, Seattle, WA (US); Samuel F. Pedigo, Lake Forest Park, WA (US); Santosh Devasia, Lake Forest Park, WA (US); Benjamin Yat-Chun Wong, Lynnwood, WA (US); Kyle William Schultz, Seattle, WA (US); Wade Marquette, Mukilteo, WA (US); Lucky Singh, Seatac, WA (US); Derek Keith Loy, Mukilteo, WA (US); and Joseph L. Garbini, Seattle, WA (US)
Assigned to The Boeing Company, Arlington, VA (US)
Filed by The Boeing Company, Chicago, IL (US); and University of Washington, Seattle, WA (US)
Filed on Mar. 3, 2022, as Appl. No. 17/686,350.
Claims priority of provisional application 63/156,816, filed on Mar. 4, 2021.
Prior Publication US 2022/0281102 A1, Sep. 8, 2022
Int. Cl. B25J 9/06 (2006.01); B25J 9/10 (2006.01); B25J 9/14 (2006.01); B25J 9/16 (2006.01); B25J 19/00 (2006.01)
CPC B25J 9/06 (2013.01) [B25J 9/1035 (2013.01); B25J 9/1045 (2013.01); B25J 9/146 (2013.01); B25J 9/1697 (2013.01); B25J 19/0004 (2013.01); B25J 19/002 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mechanical avatar assembly for use in a confined space in a structure, the mechanical avatar assembly comprising:
a rail assembly designed for attachment to an access opening to the confined space in the structure, the rail assembly comprising:
two or more rail segments coupled together to form an elongated base having a rail and a gear rack extending along a length of the elongated base;
a carriage portion coupled to the rail, and movable relative to the rail; and
a drive assembly coupled to the carriage portion and to the gear rack, to move the carriage portion along the rail;
an articulating avatar arm coupled to, and movable via, the carriage portion, the articulating avatar arm comprising a plurality of mechanical links, a plurality of joints coupling the plurality of mechanical links together, and one or more actuator assemblies coupled at each joint, and the one or more actuator assemblies comprising one of, one or more pulley and cable assemblies, and one or more water-driven hydraulic piston assemblies; and
an image capturing device coupled to the articulating avatar arm.