Mobile Robot Traversing 3D Lattice Structures
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Solution Overview
Problem
Existing robots are limited in their ability to traverse and perform repairs within the volume of assembled 3-dimensional lattice structures, requiring disassembly of entire sections to access failed elements, which is inefficient and complex.
Innovation Solution
A robot designed to traverse and inspect cellular solids lattices, specifically the CubOct lattice, utilizing two mechanisms for gripping and translating, and an actuated hip for rotation, allowing it to move and reorient within the lattice with minimal feedback and reduced mechanical complexity, requiring only two motions: climbing and turning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional truss traversal robots are used, then the robot can traverse the lattice structure, but it requires disassembly of entire sections to access failed elements and has limited capability to perform repairs within the volume
Solution Approach 1:
The robot divides the lattice structure into discrete unit cells with standardized interfaces, allowing it to access and repair failed elements within individual cells without disassembling entire sections. The manipulator system is segmented into modular components that can independently interact with lattice elements.
Solution Approach 2:
The robot introduces an intermediary manipulator system with specialized end effectors that can interface with lattice struts and nodes. This intermediary mechanism enables precise access to failed elements through the lattice volume without requiring structural disassembly.
2Adaptability or versatility
If a robot with multiple degrees of freedom is designed to traverse the lattice, then the robot can access any location, but the mechanical complexity and number of components increases
Solution Approach 1:
The robot employs a universal manipulator system that can perform multiple functions (traversal, inspection, repair) using a standardized set of mechanisms. The end effectors are designed to be multi-functional, capable of gripping struts, engaging nodes, and performing repair operations without requiring specialized mechanisms for each task.
Solution Approach 2:
The robot utilizes the periodicity and symmetry of the lattice structure to simplify its navigation. By changing parameters such as orientation and position relative to the lattice unit cells, the robot can achieve mobility throughout the structure using a reduced set of degrees of freedom, leveraging the environmental regularity rather than requiring full自由度 compensation.
3Measurement precision
If the robot uses advanced sensors and feedback mechanisms to navigate the lattice, then the robot can maintain precise positioning, but the system complexity and cost increases
Solution Approach 1:
The robot uses the lattice structure itself as an alignment reference, leveraging the periodic geometry to maintain positioning accuracy. The standardized unit cells and strut configurations serve as built-in alignment features, eliminating the need for external sensor systems while achieving precise navigation through the structure.
Solution Approach 2:
The robot exploits the asymmetric features within the symmetric lattice structure (such as specific strut orientations or node configurations) to establish reference frames and maintain positioning. By identifying and utilizing these asymmetric markers within the periodic pattern, the robot achieves precise localization without requiring complex sensor arrays.
Data Source
AI summary
A class of robots specifically adapted to climb periodic lattices. These “relative robots” are designed for a specific lattice structure and use the regularity of the structure to simplify path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to locomote. These robots can perform vital inspection and repair tasks within the structure that larger truss construction robots cannot perform without modifying the structure. A particular embodiment is a robot designed to traverse a cubooctahedral (CubOct) cellular solids lattice using only two motions: climbing and turning.