Flexible Bar Vibration Suppression Using Distributed Rotor Thrust

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing systems face limitations in reducing vibration on flexible bar structures connected to ground manipulators due to torque constraints and limited payload capacity, especially in narrow working spaces.

Innovation Solution

A vibration suppression system utilizing cooperative control between a ground manipulator and distributed vibration suppression devices with rotors, which estimate deflection and apply thrust to minimize vibration and deflection by dispersing loads, without additional actuators beyond rotors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Quantity of substance

If a ground manipulator is used to transport large objects, then payload capacity is improved, but torque is limited due to offset of center of gravity from end-effector

Engineering Contradiction:

Improvepayload capacityVSAvoidtorque

Core Design Contradiction:

Quantity of substanceVSForce

Solution Approach 1:

The system divides the manipulator into multiple segments: a ground-based base unit and multiple aerial robotic units. The base manipulator handles heavy payload transport, while aerial units are deployed to assist with objects having offset centers of gravity, distributing the torque requirement across multiple coordinated units.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Aerial robotic units act as intermediaries between the ground manipulator and objects with offset centers of gravity. These aerial units position themselves to provide counterbalancing forces, enabling the ground manipulator to handle payloads that would otherwise exceed its torque capacity.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Area of stationary object

If a single multi-rotor drone is used for large working space, then working space is improved, but payload capacity is limited

Engineering Contradiction:

Improveworking spaceVSAvoidpayload capacity

Core Design Contradiction:

Area of stationary objectVSQuantity of substance

Solution Approach 1:

The system merges the capabilities of ground-based manipulators (high payload capacity) with aerial robotic units (large working space). The ground manipulator serves as a base that can deploy multiple aerial units, combining the payload handling strength of ground operations with the spatial flexibility of aerial operations.

Inventive Principle:

Principle #5Merging (Combining)

3Quantity of substance

If a ground manipulator operates in narrow working space, then payload capacity is improved, but working space is limited due to ground constraint

Engineering Contradiction:

Improvepayload capacityVSAvoidworking space

Core Design Contradiction:

Quantity of substanceVSArea of stationary object

Solution Approach 1:

The system dynamically adapts its configuration based on the working environment. In narrow spaces, the ground manipulator operates with limited aerial units. When space permits, additional aerial units are deployed to extend the working envelope, allowing the system to optimize between payload capacity and working space based on real-time conditions.

Inventive Principle:

Principle #15Dynamics

4Stability of the object's composition

If vibration suppression devices are added to flexible bar structure, then vibration reduction is improved, but device complexity increases

Engineering Contradiction:

Improvevibration reductionVSAvoiddevice complexity

Core Design Contradiction:

Stability of the object's compositionVSDevice complexity

Solution Approach 1:

The vibration suppression devices alter the dynamic parameters of the flexible bar structure by applying counteracting forces through rotors. The system changes the vibrational characteristics of the structure by introducing active control forces that modify the effective stiffness and damping properties of the flexible bar.

Inventive Principle:

Principle #35Parameter changes

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

Effectively reduces vibration and deflection on flexible bar structures by optimizing rotor placement and thrust direction, allowing for stable operation in constrained environments.

Implementation Method 1

at least one vibration suppression device configured to be controlled to reduce vibration and deflection occurring in the flexible bar structure by dispersing a load applied to the flexible bar structure due to movement or disturbance of the ground manipulator, wherein the at least one vibration suppression device includes no actuators other than rotors

Methodology Applied

Scientific EffectThrust generation:

Data Source

PatentUS11480229B2Vibration suppression system and method of reducing vibration on flexible bar structure in vibration suppression system

Publication Date: 2022.10.25 SEOUL NATIONAL UNIVERSITY R&DB FOUNDATION

AI summary

A vibration suppression system includes a ground manipulator, a flexible bar structure connected to an end of the ground manipulator, and at least one vibration suppression device configured to be distributedly arranged to be attached/detached to/from the flexible bar structure and configured to be controlled to reduce vibration and deflection occurring in the flexible bar structure by dispersing a load applied to the flexible bar structure due to movement or disturbance of the ground manipulator.