Cable-Suspended Robotic System 3D Navigation
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Solution Overview
Problem
Robotic systems, such as autonomous vehicles and drones, are limited to two-dimensional operations or have limited carrying capacity, restricting their task performance and operational environments.
Innovation Solution
A cable-suspended robotic system with a cable positioning system that includes multiple cable support structures and sensors, allowing the robotic device to be maneuvered in three dimensions by independently adjusting the length of suspension cables, and a control system that generates a 3D model of the operating volume to navigate the device while avoiding collisions with objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robotic systems operate in two dimensions, then device complexity is reduced, but operational versatility is limited
Solution Approach 1:
The patent transitions the robotic system from two-dimensional ground-based operation to three-dimensional cable-suspended operation. The robot is suspended by multiple cables attached to overhead support structures, enabling movement in vertical and lateral directions simultaneously, thus adding the vertical dimension to traditional planar movement and significantly expanding operational versatility.
2Adaptability or versatility
If drones operate in three dimensions, then operational versatility improves, but carrying capacity is limited
Solution Approach 1:
The cable-suspended system provides external support forces that counterbalance the robot's weight. Multiple tensioned cables act as counterweights, supporting the robot's mass without requiring the robot to generate equal thrust through its own propulsion system, thereby enabling three-dimensional operation without the severe carrying capacity limitations that constrain drones.
3Manufacturing precision
If cable length is independently adjusted for each support structure, then positioning precision improves, but device complexity increases
Solution Approach 1:
The system employs sensors to continuously monitor the robot's position and the lengths of suspension cables. This feedback information is fed to the control system, which automatically adjusts cable lengths to achieve precise positioning. The closed-loop feedback mechanism enables high positioning precision while automating the complex coordination required for independent cable adjustment, thereby managing device complexity.
Data Source
AI summary
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for obtaining a three-dimensional (3D) model of an operating volume for a cable-suspended robotic system, where the operating volume is defined, at least in part, by a plurality of cable support structures. Identifying a cable positioned device suspended from a plurality of cables and an object that obstructs a path of the cable positioned device within the operating volume within the 3D model. Locating the cable positioned device relative to the object using the 3D model. Controlling one or more cable motors to navigate the cable positioned device within the operating volume.