Convex Polygon Object Positioner with Line Actuators
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Solution Overview
Problem
Existing systems for positioning and moving payloads within defined spaces, such as aerial cabling systems, lack the precision and versatility to handle various shapes and sizes of 2D and 3D spaces effectively, especially in applications requiring controlled movement and tension maintenance.
Innovation Solution
The object positioner apparatus uses a network of line guiding devices and displacement actuators to create a convex polygon or polyhedron-shaped space, with connecting lines that can be selectively displaced to achieve precise positioning and movement within these spaces, maintaining prescribed tension levels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional aerial cabling systems are used for positioning payloads, then basic movement capability is achieved, but positioning precision and versatility for various space shapes are insufficient
Solution Approach 1:
The system divides the positioning space into multiple vertices (3 or more for 2D, 4 or more for 3D) with line guiding devices at each vertex. Connecting lines are segmented and attached to multiple actuators, allowing independent control of each line to achieve precise positioning in complex space shapes.
Solution Approach 2:
The apparatus uses a universal configuration of line guiding devices and actuators that can adapt to any convex polygon or polyhedron shape. The same basic components (vertices, lines, actuators) serve multiple functions by being arranged in different configurations to handle various space geometries and payload types.
2Measurement precision
If more line guiding devices and actuators are added to improve positioning precision in complex spaces, then positioning accuracy improves, but device complexity increases
Solution Approach 1:
The system segments the positioning function into multiple independent line-actuator pairs, each responsible for controlling the payload's position from a different vertex. This modular segmentation allows precise control while maintaining manageable complexity through standardized repeating units.
Solution Approach 2:
Instead of having the payload directly connected to a complex mechanical structure, the system inverts the approach by using tensioned connecting lines from fixed vertices to control the payload. The actuators control line lengths rather than directly manipulating the payload, simplifying the mechanical interface.
3Manufacturing precision
If connecting lines are displaced to achieve precise positioning, then positioning control improves, but maintaining prescribed tension becomes more difficult
Solution Approach 1:
The system incorporates feedback mechanisms where the position of the payload is continuously monitored and used to adjust actuator commands. This closed-loop control ensures that connecting lines maintain prescribed tension levels while achieving precise positioning, as actuators can dynamically compensate for tension variations during movement.
Solution Approach 2:
The actuators dynamically change the length parameter of connecting lines during positioning operations. By precisely controlling line length changes and coordinating multiple actuators, the system maintains optimal tension levels throughout the positioning process, adapting tension parameters as the payload moves to different positions.
Data Source
AI summary
Apparatuses for positioning and moving an object are provided. One apparatus positions/moves the object within a two-dimensional space having the shape of a convex polygon. Another apparatus positions/moves the object within a three-dimensional space having the shape of a convex polyhedron. Yet another apparatus separately positions/moves two different attachment points on the object within the bounds of the lateral faces of a three-dimensional space having the shape of a convex prism.