Hopping Robot Launch Legs and Actuator Control for Stable Flight
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Solution Overview
Problem
Remotely controlled mobile robots face limitations in mobility due to obstacles like stairs, fences, and walls, and existing designs suffer from damage and uncontrollable motion during launching and landing.
Innovation Solution
A robot with a fixed combustion-powered linear actuator, launch legs that elevate the front for stable flight, and a chassis design with a median axis of inertia perpendicular to the pitch axis, along with a control subsystem to manage flight attitude and orientation, ensuring controlled and damage-free traversal over obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a combustion powered linear actuator is used to launch the robot into the air, then the robot can overcome obstacles like fences and walls, but the robot can tumble uncontrollably in flight causing damage upon landing
Solution Approach 1:
The robot performs preliminary actions before flight including rotating the actuator to a launch position, extending launch legs to elevate the front of the robot, and positioning the actuator so the thrust vector passes through the center of mass. These preliminary actions ensure stable flight and prevent uncontrolled tumbling during and after the hop
Solution Approach 2:
The robot uses sensors to detect its attitude and position during flight, and the control system processes this information to command the motive subsystem and landing gear. This feedback loop enables real-time adjustments to maintain controlled motion and stable landing orientation
2Adaptability or versatility
If the actuator is rotated into a deployment position and then rotated back for storage, then the actuator can be reused, but the robot can tumble uncontrollably in flight causing damage to components
Solution Approach 1:
The robot rotates the actuator to the launch position and extends the launch legs before flight as preliminary actions. This ensures the actuator is properly positioned to generate controlled thrust through the center of mass, preventing uncontrolled tumbling that would damage the actuator during flight and landing
3Adaptability or versatility
If the robot is launched into the air to overcome obstacles, then mobility is enhanced, but the robot can bounce again upon landing causing damage and uncontrollable motion
Solution Approach 1:
The robot extends the launch legs to elevate the front of the robot before flight, which positions the robot for a more stable landing. The actuator is also positioned so the thrust vector passes through the center of mass, ensuring the robot lands in a controlled orientation rather than tumbling uncontrollably
Solution Approach 2:
The robot deploys landing gear before impact and uses energy absorbing materials in the wheels and chassis structure to cushion the landing. This preliminary cushioning preparation reduces the impact forces that would cause bouncing and damage
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 controlled and damage-free hopping over fences, walls, and other obstacles, reducing uncontrolled tumbling and enhancing mobility while protecting the robot and its components.
Implementation Method 1
a combustion powered linear actuator fixed to the chassis and with a foot extending rearwardly of the robot chassis producing a thrust vector through or nearly through the center of mass of the chassis
Implementation Method 2
a chassis design wherein the robot's median axis of inertia is perpendicular to the pitch axis
Data Source
AI summary
A robot includes a chassis, a motive subsystem configured to maneuver the chassis, a hopping actuator attached to the chassis and configured to launch the robot, and at least one leg pivotable with respect to the chassis to pitch the chassis upward at a selected launch trajectory angle. A control subsystem automatically actuates and controls the motive subsystem when the robot is airborne and uses the rotational momentum of the motive subsystem to control the attitude of the robot chassis in flight.