Compliant Suspension for Tracked Climbing Machines
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Solution Overview
Problem
Existing robotic tracked vehicles with endless tracks struggle to distribute loads effectively among adhering track members, particularly on irregular surfaces, leading to localized force distribution and limited ability to maintain equilibrium on inclined or upside-down surfaces.
Innovation Solution
A compliant suspension apparatus with a compliant beam and contour-following bias devices that distribute stiffness and forces among multiple adhering track members, ensuring continuous contact and adhesion on non-planar surfaces by adjusting to surface irregularities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid guide section is used to connect to the endless track, then the track can support tensile forces, but the surface normal forces are localized on individual adhering track members whenever climbing surface irregularities are encountered
Solution Approach 1:
The patent employs a flexible guide section instead of a rigid one, allowing the guide to conform to climbing surface irregularities while maintaining connection to the endless track. This flexibility enables the guide to distribute surface normal forces across multiple adhering track members rather than localizing them on individual members, resolving the contradiction between tensile force support and reliable force distribution
Solution Approach 2:
The guide section is designed with dynamic characteristics that allow it to adapt its shape and position in response to varying climbing surface conditions. This dynamic behavior enables the guide to maintain optimal contact with irregular surfaces while continuously distributing forces among track members, preventing force localization that would occur with a static rigid guide
2Strength
If the endless track has very high tensile stiffness in the axial direction, then the track can support tensile forces, but it has negligible stiffness in transverse directions and in bending, resulting in minimal ability to support shear side loads and compressive loads
Solution Approach 1:
The patent applies local quality by providing different stiffness characteristics in different directions and locations. The endless track maintains high tensile stiffness in the axial direction where it is needed for propulsion, while the guide section provides transverse stiffness and bending resistance at specific locations where shear and compressive loads occur. This localized differentiation of mechanical properties allows the system to excel in tensile load support while also being capable of handling multi-directional loads
3Adaptability or versatility
If the endless track accommodates irregular climbing surfaces, then the track can adapt to surface contours, but forces are localized on the outer adhering track members, affecting and maintaining positional and orientational equilibrium
Solution Approach 1:
The guide section acts as an intermediary element between the endless track and the climbing surface irregularities. It mediates the interaction by absorbing and distributing the forces generated when the track conforms to surface contours. This intermediary function prevents force localization on outer adhering track members while maintaining the track's ability to adapt to irregular surfaces, thereby ensuring reliable equilibrium maintenance
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 allows the vehicle to maintain traction and equilibrium on irregular surfaces, preventing loss of contact and adhesion, enhancing its ability to climb vertical surfaces and negotiate complex contours while supporting both tensile and compressive loads.
Implementation Method 1
A compliant suspension apparatus with a compliant beam and contour-following bias devices that distribute stiffness and forces among multiple adhering track members
Implementation Method 2
endless tracks with magnetic track members incorporated in the endless tracks
Data Source
AI summary
A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine. The compliant suspension apparatus is configured to negotiate irregularities in a climbing surface without the vehicle tracks losing full surface contact and adhesion by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion. The apparatus thus avoids exceeding the allowable force in any adhering traction member and significantly improves the performance of the climbing machine.