Cable-Driven Robotic Platform with Counterbalancing for Large Workspaces
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Solution Overview
Problem
Current robotic solutions are inadequate for large workspace operations, particularly in construction, due to challenges such as the need for skilled workers, high construction costs, and difficulties in mobility and reconfigurability within cluttered environments, as well as the lack of robotic solutions for handling large payloads in spaces like construction, warehousing, agriculture, and water treatment plants.
Innovation Solution
A cable-driven robotic platform with a constrained cable management system, multi-dimensional counterbalancing mechanism, and active vibration control, allowing for three-dimensional movement and stability, and the ability to be reconfigured for different workspace sizes and heights, using cables instead of rigid elements and incorporating counterweights to reduce the impact of forces on the motor drive system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robotic systems are used for large workspace operations, then productivity and skilled worker shortage are addressed, but device complexity and difficulty of operation increase due to mobility and reconfigurability challenges
Solution Approach 1:
The robotic system is divided into modular components including a mobile platform, cable management units, and interchangeable end effectors. This segmentation allows independent optimization of each module and simplifies deployment in different construction scenarios, directly addressing the productivity improvement while managing complexity through modularity.
Solution Approach 2:
The robotic platform is designed with universal capabilities to perform multiple construction tasks including material handling, assembly operations, and demolition. The system can be reconfigured for different workspaces and heights, providing multi-functionality that improves productivity across various construction applications without requiring separate specialized systems.
2Extent of automation
If robotic systems are deployed in cluttered construction environments, then automation benefits are achieved, but ease of operation deteriorates due to mobility constraints and obstructions
Solution Approach 1:
The robotic system employs flexible cable management mechanisms that can navigate around obstructions and adapt to cluttered construction environments. The cable routing system uses flexible pathways and tension management components that allow the robot to move through tight spaces and around existing structures, maintaining ease of operation while achieving high automation.
Solution Approach 2:
The robotic platform incorporates dynamic mobility capabilities with adjustable speed, direction, and configuration. The system can dynamically adapt its movement patterns to navigate cluttered construction sites, avoid obstructions, and reposition itself as needed. This dynamic behavior maintains ease of operation while enabling extensive automation in complex environments.
3Power
If counterbalancing mechanisms are added to reduce motor load, then power consumption and motor size are reduced, but device complexity increases
Solution Approach 1:
The robotic system incorporates counterbalancing mechanisms that use counterweights to offset the platform's weight and reduce the load on motor drives. This principle directly reduces power consumption and allows for smaller, more efficient motors. The counterbalancing system is integrated into the overall design to minimize additional complexity while achieving significant power reduction.
Solution Approach 2:
The counterbalancing mechanism creates equipotential conditions by balancing gravitational forces on the platform, effectively neutralizing the weight burden on the drive system. This approach reduces the energy required for vertical movements and maintains the platform in a balanced state, reducing motor power requirements without requiring overly complex control systems.
4Adaptability or versatility
If cable management systems are used instead of rigid elements, then adaptability and reconfigurability improve, but stability and rigidity worsen
Solution Approach 1:
The cable management system dynamically adjusts cable tension, routing, and configuration parameters to maintain platform stability while adapting to different workspaces. The system modifies these parameters in real-time based on platform position, payload, and environmental conditions, achieving both adaptability and stability through parameter optimization rather than fixed rigid structures.
Solution Approach 2:
The cable management system incorporates feedback mechanisms that continuously monitor platform position, cable tension, and system stability. This feedback is used to actively adjust cable routing and tension to compensate for the flexibility of the cable-based system, maintaining stability comparable to rigid structures while preserving the adaptability benefits of flexible cable management.
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 solution enables stable and efficient operation of robotic platforms in large workspaces by reducing the load on the motor drive system, allowing for wider application and higher payload capacity, while also addressing the challenges of mobility and reconfigurability, thereby reducing construction costs and the need for skilled labor.
Implementation Method 1
a multi-dimensional counterbalancing or counterweight mechanism to reduce or eliminate the impact of forces acting on the platform and its equipment mass on the cable management system
Implementation Method 2
The counterbalancing system includes a guiding rail connected at each end to one of the set of CDRU; a floating slider for sliding back and forth along the guiding rail; a guide rail floating pulley attached to the floating slider; a set of counterbalancing floating pulleys; a counterbalancing weight connected to the set of counterbalancing floating pulleys
Implementation Method 3
a special constrained cable management system for increasing rigidity and stability of the platform
Implementation Method 4
a special constrained cable management system for increasing rigidity and stability of the platform
Implementation Method 5
an active vibration control system and/or a multi-axis reaction system to reduce, remove or eliminate any disturbances for making the platform stable during motion or operation
Implementation Method 6
an active vibration control system and/or a multi-axis reaction system to reduce, remove or eliminate any disturbances
Data Source
AI summary
The disclosure is directed at a robotic platform for use in large workspaces. The disclosure includes a moving platform that is controlled by a set of cable actuators via a set of cables. The cables are also connected to at least one of a counterbalancing and/or a counterweight system to reduce the impact of forces being experienced on the moving platform on the set of cable actuators. In one embodiment, at least two of the set of cable actuators are connected with a single closed cable loop.