Adjustable Chassis Robot for Stair Climbing With Package Stability
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Solution Overview
Problem
Terrestrial robots, particularly package-carrying robots, face challenges when traversing various types of obstacles on their travel paths, such as stairs, due to limitations in their design and navigation capabilities.
Innovation Solution
A robotic vehicle with a chassis that includes a first section and a second section, where the separation distance between these sections can be varied by actuators, allowing the vehicle to adapt its height to traverse obstacles like stairs, equipped with sensors and controllers to evaluate terrain and adjust the chassis configuration for stability and maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic vehicle uses a fixed chassis design, then the structure is simple and easy to manufacture, but it cannot adapt to traverse obstacles like stairs
Solution Approach 1:
The chassis is divided into multiple sections (first chassis section, second chassis section, third chassis section) that can move independently relative to each other. This segmentation allows the robotic vehicle to adapt its configuration for traversing obstacles like stairs while maintaining overall structural integrity and manageable complexity.
Solution Approach 2:
The chassis transitions from a fixed configuration to a dynamic, adjustable configuration. The first and second chassis sections can vary their separation distance through actuators, enabling the vehicle to adapt its height and stance for different terrain conditions, particularly for climbing stairs.
2Adaptability or versatility
If the separation distance between chassis sections is increased to climb stairs, then the vehicle can traverse obstacles, but the package stability may be compromised
Solution Approach 1:
The chassis dynamically adjusts its configuration during stair traversal. The separation distance between chassis sections is varied in a controlled manner, and the system can transition between different operational states (e.g., coordinated movement mode, independent movement mode) to maintain stability while adapting to the stair geometry.
Solution Approach 2:
Different sections of the chassis have different functions and properties. The first chassis section is optimized for package carrying with enhanced stability features, while the second and third sections are optimized for propulsion and terrain adaptation. This local differentiation allows the system to achieve both stair-climbing capability and package stability.
3Adaptability or versatility
If the robotic vehicle uses a multi-section chassis with variable separation, then it can adapt to terrain, but the device complexity and control difficulty increase
Solution Approach 1:
The system controls the separation distance between chassis sections by adjusting actuator parameters. The controller varies physical parameters (separation distance, actuator position) based on terrain detection, enabling adaptive terrain traversal through parameter optimization rather than complex mechanical reconfiguration.
Solution Approach 2:
The robotic vehicle uses sensors to detect terrain conditions and provides feedback to the controller, which then adjusts the chassis configuration accordingly. This closed-loop control system simplifies the management of multi-section chassis complexity by using real-time environmental feedback to automatically optimize the separation distance and movement coordination.
Data Source
AI summary
The disclosure generally pertains to a robotic vehicle. An example robotic vehicle has a base platform that includes at least a chassis, an actuator, a sensor, and a controller. The chassis includes a first wheel that is attached to a first section of the chassis and further includes a second wheel attached to a second section of the chassis. The actuator has a proximal end attached to the first section of the chassis and a distal end attached to the second section of the chassis. The sensor is configured to obtain information associated with a stair structure located on a traversal path of the robotic vehicle. The controller evaluates the information obtained by the sensor and operates the actuator to vary a separation distance between the first section of the chassis and the second section of the chassis so as to enable the robotic vehicle to traverse the stair structure.