Cable-Driven Mobile Platform Kinematic Constraints
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In warehousing systems, manual control of mobile platforms for item placement and retrieval is inefficient, leading to undesired movements and potential item loss due to uncontrolled degrees of freedom.
Innovation Solution
A cable-based apparatus that uses kinematic constraints, such as parallelograms formed by cables attached to a platform and controlled by motors, to passively limit or eliminate unwanted motion in specific degrees of freedom, ensuring items are securely moved between desired locations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual control is used for mobile platforms, then operator flexibility is maintained, but control precision and speed are reduced leading to undesired movements
Solution Approach 1:
The patent replaces manual mechanical control with an automated cable-driven mechanism. Motors control cable tensions to move the platform, substituting human-operated mechanical controls with an automated electromechanical system that provides precise control through cable tension management.
Solution Approach 2:
The system changes the control parameter from manual position commands to cable tension forces. By controlling the tension in multiple cables attached to the platform, the system precisely regulates platform movement through force control rather than direct position control, improving accuracy while maintaining manageable complexity.
2Stability of the object's composition
If cables are used to constrain platform movement, then unwanted motion is reduced, but the number of control elements increases
Solution Approach 1:
Each cable in the system serves multiple functions: it provides structural support for the platform, acts as a constraint to prevent unwanted motion in specific directions, and serves as a control element for actuating platform movement. This multi-functionality reduces the need for separate components for each purpose.
Solution Approach 2:
The cable constraints are strategically positioned and configured to provide stability specifically in the degrees of freedom that require control, while allowing freedom of movement in the desired directions. Each cable is optimized for its specific local function rather than providing uniform constraint in all directions.
3Reliability
If kinematic constraints are implemented to eliminate undesired motion, then item security is improved, but movement freedom is restricted
Solution Approach 1:
The constraint system is segmented into multiple independent cable constraints, each responsible for limiting motion in a specific degree of freedom. This segmentation allows the system to restrict unwanted motions while preserving necessary movement freedoms, as each cable segment can be independently controlled.
Solution Approach 2:
The cable constraints are dynamically controlled rather than being fixed mechanical stops. The cable tensions can be adjusted in real-time to allow or restrict motion as needed, providing adaptability while maintaining security. The constraints become active only when needed to prevent unwanted motion.
Data Source
AI summary
A system and apparatus for controlling a mobile platform via cables is disclosed. Each of the set of cables are connected at one end to the platform at a second end to a cable controlling mechanism, the cable controlling mechanism including a motor to control a length and tension of the cable. At least two of the cables form a constraint, such as a kinematic constraint to the apparatus in order to limit the movement of the platform in certain degrees of freedom.