Autonomous Tether Control for Heavy Object Tumbling and Slip Prevention
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Solution Overview
Problem
Existing manual tumbling of heavy objects using overhead cranes is dangerous and difficult, and current industrial robots are bulky, costly, and inflexible, while tether-suspended parallel robots (CSPRs) face limitations in dexterity and kinematic singularities, making safe manipulation of heavy objects challenging.
Innovation Solution
An autonomous system using two or more tethers controlled by actuators and processors maintains quasi-static control of heavy objects during tumbling, preventing slip and lift by applying bias tension to shift gravitational singularities and employing a leader-follower tether arrangement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual overhead cranes are used to tumble heavy objects, then the objects can be manipulated, but the operation becomes dangerous and difficult
Solution Approach 1:
The system employs autonomous control algorithms that automatically plan and execute tumbling trajectories without human intervention. The control system independently calculates pivot axes, tension distributions, and actuator commands, allowing the system to serve itself and eliminating the dangers associated with manual operation of heavy objects
Solution Approach 2:
The patent replaces manual mechanical crane operations with an automated control system that uses computational algorithms to manage the tumbling process. The control system substitutes human operators by calculating optimal tether tensions and actuator positions, thereby eliminating the difficulty and danger inherent in manual heavy object manipulation
2Adaptability or versatility
If traditional industrial robots are used for heavy object manipulation, then the objects can be controlled, but the systems become bulky, costly, and inflexible
Solution Approach 1:
The system divides the heavy object manipulation task into multiple independent tether lines, each controlled by separate actuators. This segmentation allows the object to be manipulated from multiple attachment points, providing flexibility and adaptability without requiring a single complex robotic structure
Solution Approach 2:
The tether-suspended parallel robot system serves multiple functions: it can manipulate heavy objects, tumble them to various orientations, and adapt to different object geometries. The same basic tether and actuator configuration can handle diverse objects, making the system universal and avoiding the need for specialized bulky robotic structures
3Adaptability or versatility
If tether-suspended parallel robots are used, then the system becomes more flexible, but kinematic singularities and dexterity limitations occur
Solution Approach 1:
The control system continuously monitors the states of all tethers and actuators, using feedback to detect approaching singularities and adjust tension distributions. This real-time feedback allows the system to maintain dexterity while avoiding unreliable configurations where control is lost
Solution Approach 2:
The system dynamically adjusts tether tensions and actuator positions during the tumbling process, adapting to changing geometric configurations. By continuously optimizing the tension distribution among multiple tethers, the system maintains dexterity across different orientations while avoiding static singularities that would compromise reliability
4Device complexity
If heavy objects are tumbled without controlled tether tension, then the tumbling process is simpler, but slip and uncontrollable movements occur
Solution Approach 1:
The control system pre-calculates the required tether tensions and actuator positions before initiating each tumbling movement. By planning the tension distribution in advance, the system ensures that friction forces are sufficient to prevent slip and that the object follows the desired trajectory without uncontrollable movements
Solution Approach 2:
The system applies bias tension to tethers to counterbalance gravitational forces and create a stable pivot point during tumbling. This counter-tension prevents the object from slipping by maintaining adequate normal force at the contact point, thereby ensuring safety without requiring overly complex control mechanisms
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
Ensures safe and controlled tumbling of heavy objects by maintaining constant contact with the surface, avoiding uncontrollable movements and singularities, enhancing safety and operational efficiency.
Implementation Method 1
rotate the object around a pivot axis located at a contact between the object and a supporting surface
Implementation Method 2
prevent slip between the object and the supporting surface during rotation of the object
Data Source
AI summary
Autonomous systems for control of heavy object tumbling and related methods are generally described. In some embodiments, the autonomous system may include one or more tethers connected to a heavy object, each tether position and location controlled by one or more actuators. The control system may include one or more processors in communication with the actuators to maintain constant quasi-static control of the heavy object during a tumbling process, in which the object is manipulated (e.g., rotated about an axis relative to a supporting surface) to provide access to alternate faces of the object. In some embodiments, the control system may reduce the risk of uncontrollable tumbling by alternating between position and tension control of the tethers depending on the orientation of the object and/or progression of the tumbling process.