Gravity-Independent Multi-Robot Movement on Curved Guide Rails
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Solution Overview
Problem
Existing robotic systems relying on gravity for movement and positioning are limited by the need for a center of gravity within supporting points, preventing upside-down operation, continuous power supply, and are not suitable for flexible, continuous movement over large areas with high spatial resolution.
Innovation Solution
A system with circularly curved guide rails and guiding supports allows robotic vehicles to move independently of gravity, enabling three degrees of freedom and continuous movement with electrical signal transmission, using a supporting structure with posts and traction elements for smooth direction changes without deceleration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If gravity-dependent actuators with wheels are used for displacement, then the device can move on ground, but the center of gravity must remain within supporting points which limits range of motion and prevents upside-down operation
Solution Approach 1:
The patent inverts the traditional gravity-dependent approach by using gravity-independent magnetic actuators. The robotic device operates upside-down or in any orientation without constraint, as the magnetic interaction between the actuators and the guide structure provides force independent of gravitational direction. This allows the center of gravity to be outside the supporting area while maintaining stable operation.
2Ease of operation
If the base member can be located to any continuum of locations, then positioning flexibility is improved, but continuous power supply cannot be implemented
Solution Approach 1:
The patent introduces a continuous guide structure with embedded magnetic actuators as an intermediary power transmission medium. As the robotic device moves along the guide, the continuous magnetic field provides uninterrupted power and control signals. This mediator enables both continuous positioning flexibility and continuous power supply by maintaining constant magnetic coupling between the guide and the moving device.
3Stability of the object's composition
If cartesian grid rails with orthogonal directions are used, then structured movement is achieved, but velocity must go to zero when direction changes which reduces transfer rate
Solution Approach 1:
The patent replaces the orthogonal cartesian grid with a continuous curved or circular guide path. This allows the robotic device to change direction smoothly along the curved trajectory without abrupt 90-degree turns. The velocity can be maintained continuously along the curved path, eliminating the need to decelerate to zero at direction changes, thereby increasing transfer rate while maintaining structured movement through the curved geometry.
4Adaptability or versatility
If omnidirectional wheels with friction sub-wheels are used, then turning capability is improved, but complexity increases and robustness decreases
Solution Approach 1:
The patent extracts the turning capability from the complex omnidirectional wheel mechanism and relocates it to the guide structure itself. The guide structure provides directional guidance through its geometry, while the robotic device uses simpler magnetic actuators for propulsion. This separates the navigation function (handled by the fixed guide) from the propulsion function (handled by the moving actuators), reducing device complexity while maintaining full turning capability.
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
Enables high-speed, precise, and repeatable movement with minimal mechanical backlash, allowing continuous operation and flexible adaptation to various environments without the need for batteries.
Implementation Method 1
At least one actuator with gears or friction wheels displaces the robotic vehicle by engaging with traction elements that are fixed to the supporting structure
Data Source
Figure 1
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AI summary
Gravity independent multi-robot system. The present invention relates to a system allowing the independent movement and positioning of a plurality of robotic vehicles along an arbitrarily oriented two-dimensional plane comprising a supporting structure (4) and a plurality of robotic vehicles (7) which move between a plurality of parallel posts (1a and 1b), that are orthogonal to the two-dimensional movement plane, and are fixed to the supporting structure. The posts may be arranged according to any combination of equilateral and isosceles triangles. One end of each post is anchored to the supporting structure enabling complete access to external objects on the non-anchored side. Movement of the robotic vehicle is generated by actuators on the robotic vehicle with driving wheels (36a and 36b) and traction elements 33 on the posts or supporting structure. Circular guide rails (31a and 31b) on the robotic vehicle and guiding supports 30 on the posts constrains the type of displacement to rotational movements around the length axis of the posts. The posts can have electrical commutators with slip rings to transfer electricity between robotic vehicle and the supporting structure.