A method of treating refractory-lined equipment includes accessing an interior of the refractory-lined equipment with an equipment repair apparatus, wherein the equipment repair apparatus includes a robotic arm and one or more end effectors coupled to an end of the robotic arm, inspecting refractory material that lines an inner wall of the refractory-lined equipment with a first end effector coupled to the end of the robotic arm, removing damaged refractory material from the inner wall with a second end effector coupled to the end of the robotic arm, removing one or more anchors from the inner wall with a third end effector coupled to the end of the robotic arm, and installing new refractory material on the inner wall with a fourth end effector coupled to the end of the robotic arm.

A robotic platform for traversing and manipulating a modular 3D lattice structure is described. The robot is designed specifically for its tasks within a structured environment, and is simplified in terms of its numbers of degrees of freedom (DOF). This allows for simpler controls and a reduction of mass and cost. Designing the robot relative to the environment in which it operates results in a specific type of robot called a “relative robot”. Depending on the task and environment, there can be a number of relative robots. This invention describes a bipedal robot which can locomote across a periodic lattice structure made of building block parts. The robot is able to handle, manipulate, and transport these blocks when there is more than one robot. Based on a general inchworm design, the robot has added functionality while retaining minimal complexity, and can perform numerous maneuvers for increased speed, reach, and placement.

A manipulator includes a mount member, a base member with threaded openings, a coupling member, and an output member with threaded openings. The manipulator also includes three motors mounted to the mount member and three drive trains connected to the motors, respectively.

A manipulator includes a mount member, a base member with threaded openings, a coupling member, and an output member with threaded openings. The manipulator also includes three motors mounted to the mount member and three drive trains connected to the motors, respectively.

A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

A robotic arm for flexible operation in three dimensional space is provided. The robotic arm is divided into several arm parts with multiple joints to move the robot arm in three-dimensional space. The length and angle of the different arm parts are adjustable. The functioning of arm parts is controlled by one or more motors. The motors are configured to control a change in length and angle of the arm parts. Based on usage, a motor is used to change the length and two, four, or six motors or even more motors are used to change the angle and adjust an access to the target. The robot is assembled by varying the number of attachable arm parts depending on the direction of movement and the degree or direction of rotation.

A robotic arm for flexible operation in three dimensional space is provided. The robotic arm is divided into several arm parts with multiple joints to move the robot arm in three-dimensional space. The length and angle of the different arm parts are adjustable. The functioning of arm parts is controlled by one or more motors. The motors are configured to control a change in length and angle of the arm parts. Based on usage, a motor is used to change the length and two, four, or six motors or even more motors are used to change the angle and adjust an access to the target. The robot is assembled by varying the number of attachable arm parts depending on the direction of movement and the degree or direction of rotation.

A continuum robot having at least two independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates control algorithms that enable the continuum robot to operate and advance into the passage, as well as the systems and procedures associated with the continuum robot and said functionality.

A robotic assembly for servicing equipment, the robotic assembly including an area configured to receive components associated with a workscope of the equipment; an environmental capture device configured to capture information associated with an environment in which the robotic assembly is disposed; and one or more computing devices configured to: locate the equipment in the environment; autonomously navigate the robotic assembly through the environment to the equipment; and autonomously adjust a position of the robotic assembly in response to the workscope.