Actuated Bogie Drivetrain for Autonomous Delivery Robots
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Solution Overview
Problem
Last mile delivery robots face challenges in navigating obstacles and protecting contents from shocks and vibrations due to their inability to effectively ascend and descend obstacles and turn under various environmental conditions.
Innovation Solution
A system that actuates wheels on a vehicle using a bogie with rotatable ends, featuring linear actuators and endstops to selectively apply pressure and control articulation, allowing the robot to navigate obstacles while protecting itself and its contents.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a delivery robot uses a fixed wheel configuration, then the structure is simple and manufacturing is easy, but the robot cannot effectively ascend and descend obstacles or turn under various environmental conditions
Solution Approach 1:
The patent applies the dynamics principle by making the wheel assembly movable through a bogie mechanism that allows the wheels to articulate and change orientation relative to the robot body. The linear actuators dynamically adjust the wheel position and angle, enabling the robot to adapt to obstacles like curbs and uneven terrain. This transforms the fixed wheel configuration into a dynamic system that can actively respond to environmental conditions.
2Ease of operation
If the robot uses an actuated bogie system with linear actuators and endstops, then the robot can smoothly ascend and descend curbs and turn on high-traction surfaces, but the device complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the wheel assembly into independent controllable units with individual linear actuators and endstops for each wheel. This allows each wheel to be independently actuated and controlled, providing fine-grained maneuverability. The segmentation enables the robot to apply force selectively to specific wheels for turning or obstacle negotiation while maintaining simplicity in the control architecture through modular independent units.
3Object-affected harmful factors
If the robot navigates obstacles with a rigid drivetrain, then the structure is simple, but the robot and its contents are subjected to shocks and vibrations
Solution Approach 1:
The actuated bogie system functions as a dynamic suspension mechanism that actively absorbs and mitigates shocks and vibrations. By allowing the wheels to articulate and adjust their position relative to the robot body, the system creates a compliant connection that reduces impact forces transmitted to the robot chassis and contents. The linear actuators can dynamically adjust to absorb shocks from uneven terrain, effectively protecting the cargo without requiring a separate passive suspension system.
Data Source
AI summary
The present invention relates to a novel robot drive train that is robust, and low cost. The drive train is capable of ascending obstacles greater than the height of its wheels, protects the robot against shocks/vibration, and is highly maneuverable, such as able to execute a zero-point turn. To control the bogie in a variety of scenarios, a novel mechanism is used to selectively limit the articulation range of the bogie and/or programmatically apply a preload to the bogie axle.