Mobile Manipulation Robot With Segmented Arms and Dynamic Conveyor
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Traditional robotic systems for loading and unloading goods from trucks or ocean containers are too large, heavy, and expensive, with complex designs that limit reach and manipulation capabilities, and often obscure sensors' views, making them impractical and costly for everyday tasks.
Innovation Solution
A compact robotic system with a mobile base, actuation assembly, dynamic conveyor, and manipulation arm, equipped with sensors and a control unit, that aligns the conveyor platform with goods using data from multiple sensors to enhance reach and efficiency, and uses a horizontally and vertically articulating gantry structure to reduce power requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional dexterous robot arms with five to seven revolute joints are used, then manipulation capability is improved, but the arm becomes large, heavy, and unsafe
Solution Approach 1:
The robot arm is divided into multiple modular segments (first arm segment, second arm segment, third arm segment) that can be independently controlled by individual motors. This segmentation allows each segment to be lighter while maintaining overall manipulation capability through coordinated motion of multiple segments.
Solution Approach 2:
The system transitions from static, gravity-compensating joint actuators to a dynamic control system where individual motors control specific segments. The control system dynamically coordinates multiple motors to achieve desired arm positions and movements, replacing the need for heavy, always-active joint actuators.
2Force
If a large size motor is used to control all joints, then torque requirement is met, but the motor size increases and complexity increases
Solution Approach 1:
The control system is segmented into multiple independent motors, each controlling a specific arm segment. This distributes the torque requirement across multiple smaller motors rather than requiring one large motor to control all joints, reducing individual motor sizes and overall system complexity.
Solution Approach 2:
The system adds the dimension of coordinated multi-motor control, where multiple smaller motors work together in space and time to achieve the same manipulation tasks that would otherwise require a single large motor. This dimensional approach to control distributes mechanical complexity across multiple simpler control elements.
3Stability of the object's composition
If the robot base footprint is increased to ensure stability, then stability against tipping is improved, but the reachable workspace is limited
Solution Approach 1:
The system uses dynamic control of multiple arm segments to achieve stability through active control rather than passive geometric stability. The coordinated motion of segmented arms allows the robot to maintain balance and reach farther without requiring a larger base footprint, as stability is maintained through dynamic adjustment of center of mass and segment positioning.
4Adaptability or versatility
If bulky dexterous arms are deployed, then manipulation capability is improved, but sensors' view of the environment is obscured
Solution Approach 1:
The arm is segmented into multiple thinner segments rather than using a single bulky structure. This segmentation reduces the cross-sectional profile of the arm, improving sensor visibility while maintaining manipulation capability through the coordinated motion of multiple segments. The segmented structure allows sensors to see around and between arm segments.
Data Source
AI summary
A robotic system configured for performing a task of loading and unloading goods. The robotic system comprises a mobile base assembly, an actuation assembly coupled to the mobile base assembly and configured to move with respect to the base assembly, and a head assembly mounted atop the actuation assembly or the mobile base assembly. The head assembly comprises one or more sensors configured to collect data related to an operation environment and the task to be performed. The robotic system further comprises a dynamic conveyor coupled to the mobile base assembly. The dynamic conveyor comprises a platform. The robotic system furthermore comprises a control unit configured to move the platform to align the platform with respect to the goods to be loaded or unloaded. Further, the robotic system comprises a manipulation arm coupled to the actuation assembly or the dynamic conveyor and configured to move to perform the task.