Aircraft Ground-Fixing System for Robotic Manipulation Stability
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Solution Overview
Problem
Existing aircraft systems are unable to perform ground manipulation tasks due to their lightweight design, which causes them to tip over when equipped with robotic arms or target objectives, and adding weight to enhance stability is inefficient and affects flight dynamics.
Innovation Solution
The development of an aircraft with a ground-fixing system that includes articulating arms, end-effectors, and various ground-fixing mechanisms such as flexible landing strips, screw-driving assemblies, and electro-magnets to securely attach the aircraft to the ground, allowing for ground-based robotic manipulation tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If the aircraft is made lightweight to maintain flight efficiency and maneuverability, then flight time and maneuverability are improved, but the aircraft becomes unstable and tips over when equipped with robotic arms for ground manipulation
Solution Approach 1:
The aircraft system is divided into two operational modes: aerial mode for flight and ground mode for manipulation. The robotic arm and ground-fixing system are segregated as deployable components that are not permanently fixed to the airframe, allowing the aircraft to maintain lightweight construction for flight while acquiring stability components only when needed for ground operations
Solution Approach 2:
The aircraft transitions dynamically between flight and ground operations. The robotic arm is deployable rather than fixed, and the ground-fixing system activates only during ground-based manipulation tasks. This dynamic configuration allows the aircraft to be lightweight during flight and stable during ground operations without compromising either function
2Stability of the object's composition
If weight is added to the aircraft to enhance ground stability, then ground stability is improved, but flight dynamics deteriorate with reduced flight time and maneuverability
Solution Approach 1:
The stability-enhancing components (robotic arm, ground-fixing system) are segmented from the main airframe and can be deployed only when needed for ground operations. This allows the aircraft to maintain optimal lightweight configuration for flight while acquiring necessary mass and stability features temporarily for ground-based manipulation tasks
Solution Approach 2:
Instead of uniformly increasing the overall weight of the aircraft, mass is added locally and temporarily only at the ground contact points through the ground-fixing system and robotic arm assembly. This localized mass addition provides ground stability without significantly impacting the aircraft's overall flight dynamics and efficiency
3Adaptability or versatility
If a robotic arm is attached to the aircraft for ground manipulation, then manipulation capability is improved, but the aircraft becomes unstable and tips over due to the extended mass
Solution Approach 1:
The robotic arm is implemented as a deployable, segmented structure that can be extended or retracted as needed. When not in use, the arm is retracted or folded to minimize its impact on the aircraft's center of gravity and stability. During ground operations, the arm is deployed to provide manipulation capability while the ground-fixing system activates to prevent tipping
Solution Approach 2:
The robotic arm configuration is dynamic rather than fixed. It can be adjusted in length, position, and orientation to optimize manipulation tasks while minimizing stability impacts. The arm works in conjunction with the ground-fixing system that activates during ground operations to counterbalance the extended mass and prevent tipping
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
Enables aircraft to perform ground manipulation tasks by stabilizing the aircraft on the ground surface, eliminating floating base dynamics, and facilitating additional connections for power and functionality, such as auxiliary power supply from secondary aircraft.
Implementation Method 1
electro-magnets to securely attach the aircraft to the ground
Data Source
Figure 1a
Figure 1b
Figure 2a
AI summary
Disclosed herein are aircraft and landing gear systems configured to fix an aircraft to the ground. For example, the aircraft and aircraft systems configured for ground manipulation. In one aspect, an aircraft with an arm and end-effector may be fixed a ground surface to facilitate ground-based robotic manipulation tasks.