Aerial Vehicle Base Attachment Module for Stiff Surface Docking
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Solution Overview
Problem
Small aerial vehicles (SAVs) face challenges in attaching to work surfaces without pre-installed mechanical features, requiring improved adhesion and stiffness for robotic operations, especially when subjected to higher loads and varying surface conditions.
Innovation Solution
A base attachment module (BAM) with a contracting suction cup (CSC) and a surface meeting docking assembly (DA) provides multiple contact points that correct orientation and increase adhesion, allowing for high-stiffness attachment by sequentially engaging secondary attachments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single suction cup is used for attachment, then the device complexity is reduced, but the reliability of attachment decreases under higher loads
Solution Approach 1:
The attachment system is divided into multiple independent suction cups (primary and secondary) distributed across the base attachment module. This segmentation allows the system to maintain reliability under higher loads by distributing the attachment force across multiple contact points, while each individual suction cup remains relatively simple in structure.
Solution Approach 2:
The patent employs a hierarchical attachment structure where secondary suction cups are activated only when primary suction cups fail to achieve sufficient attachment. This nested activation sequence ensures that simpler attachment methods are tried first, and more complex engagement occurs only when necessary, maintaining both simplicity and reliability.
2Weight of moving object
If the SAV structure is made lightweight to meet weight requirements, then the ease of operation improves, but the stiffness of the mechanical structure coupling the attachment to the base of the robotic arm decreases
Solution Approach 1:
The patent applies local quality by making the attachment interface (base attachment module) structurally stiff and robust while keeping the rest of the SAV lightweight. The BAM concentrates structural reinforcement only where needed for attachment stability, allowing the overall vehicle to remain lightweight while achieving sufficient local stiffness for robotic operations.
3Reliability
If multiple contact points are added to the docking assembly, then the adhesion and orientation correction improve, but the device complexity increases
Solution Approach 1:
The docking assembly with multiple contact points serves multiple functions simultaneously: it provides adhesion through distributed suction cups, corrects orientation through geometric constraints, and enables sequential activation of primary and secondary attachment mechanisms. This multi-functionality justifies the increased complexity by delivering superior attachment performance.
4Strength
If a contracting suction cup mechanism is implemented to pull surfaces together, then the attachment stiffness increases, but the device complexity and energy consumption increase
Solution Approach 1:
The contracting suction cup operates in a periodic manner, activating only when needed to pull surfaces together during the attachment phase. Once attachment is achieved, the contraction mechanism remains stationary, consuming minimal energy. This periodic activation pattern reduces overall energy consumption compared to continuous operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The BAM achieves reliable and stable attachment to various surfaces, reducing bounce and ensuring robust engagement, even under challenging conditions, by using a contracting suction cup and distributed contact points.
Implementation Method 1
a contracting suction cup (CSC) in a position surrounded by the contact points
Data Source
Figure 1A~3
Figure 4A~4D
Figure 5A~7B
AI summary
A base attachment module (BAM) of a small aerial vehicle (SAV) for attaching the SAV to an unprepared work surface has a surface meeting docking assembly (DA) with contact points for contacting the work surface, and a contracting suction cup (CSC) in a position surrounded by the contact points such that it extends beyond a plane (or other surface contour) of the points in a fully extended operating position, and is retracted below the plane in a retracted position. Actuation of the CSC when in contact with the surface, allows for the DA to be brought into contact with the contact points in a controlled manner, for a high stiffness attachment, as is needed for deployment of robotic tasks from a SAV.