Hybrid Leg-Wheel Mobile Platform for Uneven Terrain Adaptation

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Solution Overview

Problem

Current mobile platforms, either wheel-type or leg-type, face limitations such as instability and high energy consumption on uneven terrains, and struggle to adapt to varying environments effectively.

Innovation Solution

A mobile platform with hybrid leg-wheels and independent rotational and translational degrees of freedom, enabled by a sophisticated driving mechanism that includes drivers, transmission modules, and actuators, allowing the platform to switch between wheel and leg modes for optimal terrain adaptation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If wheel-type mobile platforms are used, then stable and rapid movement is achieved, but adaptability to uneven and stepped terrains deteriorates

Engineering Contradiction:

Improvemovement speedVSAvoidterrain adaptability

Core Design Contradiction:

SpeedVSAdaptability or versatility

Solution Approach 1:

The mobile platform employs hybrid leg-wheels with independent rotational and translational degrees of freedom, allowing the structure to dynamically adapt between wheel mode (for rapid movement on flat terrain) and leg mode (for navigating uneven and stepped terrains). This dynamic reconfiguration enables the platform to optimize performance based on terrain conditions.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The hybrid leg-wheel design integrates both wheel and leg functionalities into a single component, enabling the mobile platform to perform multiple functions: rolling motion for efficient traversal on flat surfaces and stepping motion for overcoming obstacles and uneven terrains, thus achieving universal adaptability across different terrain types.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If leg-type mobile platforms are used, then adaptability to various terrains is improved, but stability and movement speed deteriorate

Engineering Contradiction:

Improveterrain adaptabilityVSAvoidmovement stability

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The platform dynamically switches between wheel mode for stable and rapid movement on suitable terrain and leg mode for navigating difficult terrains. The driving mechanisms provide independent control over rotational and translational degrees of freedom, enabling stable transitions and maintaining compositional stability during mode switching.

Inventive Principle:

Principle #15Dynamics

3Adaptability or versatility

If hybrid leg-wheels with independent rotational and translational degrees of freedom are implemented, then terrain adaptability is improved, but device complexity increases

Engineering Contradiction:

Improveterrain adaptabilityVSAvoidmechanical structure complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent merges the wheel and leg structures into a single hybrid leg-wheel component, combining multiple functions into one integrated structure. This reduces the number of separate components needed while maintaining the capability for both rotational and translational movements.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The hybrid leg-wheel serves multiple functions simultaneously: it can roll like a wheel for efficient movement and step like a leg for overcoming obstacles. The driving mechanism provides universal control over both rotational and translational degrees of freedom through a unified system design.

Inventive Principle:

Principle #6Universality (Multi-functionality)

4Adaptability or versatility

If sophisticated driving mechanisms are used to enable independent rotational and translational degrees of freedom, then terrain adaptability is improved, but manufacturing cost increases

Engineering Contradiction:

Improveterrain adaptabilityVSAvoidfabrication cost

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

The driving mechanisms for rotational and translational movements are merged into an integrated system with unified control, reducing the number of separate actuators and control systems needed. This consolidation simplifies the manufacturing process and reduces overall system cost.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The driving mechanism is designed to provide universal control over both rotational and translational degrees of freedom through a single integrated system, eliminating the need for separate dedicated mechanisms for each degree of freedom and thereby reducing manufacturing complexity and cost.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS8307923B2Mobile platform

Publication Date: 2012.11.13 NAT TAIWAN UNIV

AI summary

A mobile platform including a body, hybrid leg-wheels and driving mechanisms is provided. The hybrid leg-wheels are disposed around the body for carrying the body moving on a working surface. The driving mechanisms are disposed between the corresponding hybrid leg-wheels and the body. Each driving mechanism includes a driving axle connecting the corresponding hybrid leg-wheels and the body. Each driving mechanism provides the corresponding hybrid leg-wheel a rotational degree of freedom and a translational degree of freedom, wherein the rotational degree of freedom and the translational degree of freedom are driven independently. The rotational degree of freedom allows the hybrid leg-wheels rotating along an axis of the driving axle, and the translational degree of freedom allows the hybrid leg-wheels translating relative to the driving axle, wherein the rotational direction is substantially perpendicular to the translational direction.