Mobile Reconfigurable Robot for Large Workspace
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Solution Overview
Problem
Existing robotic systems for large workspaces require extensive land preparation and support structures, which are time-consuming to install and dismantle, especially in uneven terrain, and are not easily portable between locations.
Innovation Solution
A mobile reconfigurable robotic system with a moving platform and two-arm booms mounted on base fixtures, such as vehicles or pillars, allowing for three degrees of freedom and adjustable orientation, enabling quick installation, operation, and relocation without the need for land preparation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If support structures are mounted on flat areas surrounding the large workspace, then the robotic system can operate in large workspaces, but the installation and un-installation becomes time-consuming especially in uneven terrain
Solution Approach 1:
The base fixtures are designed to be mobile rather than stationary, allowing the robotic system to be dynamically repositioned. The vehicles serving as base fixtures can move to different locations and adjust their positions, eliminating the need for time-consuming installation and un-installation of fixed support structures while maintaining operational stability through active positioning and leveling mechanisms.
2Adaptability or versatility
If support structures are installed on uneven terrain, then the robotic system can operate in more locations, but the installation process becomes more time-consuming
Solution Approach 1:
The mobile robotic system performs its own positioning and setup functions. The vehicles autonomously navigate to desired locations and the system self-configures through the two-arm boom mechanisms, eliminating the need for external land preparation services. The system adapts to uneven terrain through its mobile platform capabilities rather than requiring the terrain to be prepared for it.
3Reliability
If fixed support structures are used, then the robotic system provides stable operation, but the system cannot be easily relocated to different sites
Solution Approach 1:
The robotic system is divided into modular components: mobile vehicles serving as base fixtures, two-arm booms, and a moving platform. This segmentation allows each component to be independently positioned and configured, enabling the system to maintain stability through precise modular arrangement while being easily relocated by transporting individual modules to new sites.
4Manufacturing precision
If telescopic arms with multiple actuators are used, then the robotic system achieves high stiffness and accuracy, but the system complexity increases
Solution Approach 1:
The two-arm boom mechanisms serve multiple functions: they provide structural support, enable precise positioning through telescopic and rotational movements, and act as the primary manipulation interface. This multi-functionality reduces the need for separate specialized components, managing system complexity while achieving high positioning accuracy through the coordinated action of the boom arms and their actuators.
Data Source
AI summary
A method and system for a mobile configurable robot for use in a large workspace including a set of base fixtures located around a perimeter of the large workspace and a moving platform. Each base fixture and the moving platform is connected via a two-arm boom system whereby the two-arm boom system is controlled by a set of actuators.