Modular Robotic Structure With Leadscrew Actuation for Compact Reconfiguration
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Solution Overview
Problem
Existing robotic architectures face limitations in terms of implementation, versatility, structural strength, flexibility, compactness, and adaptability, particularly requiring large motors and occupying significant volume when modules are folded, which hinders their reconfigurability and adaptability for various applications.
Innovation Solution
A modular robotic structure comprising motorized modules with a housing, wheels, a driver, leadscrew, and a transmission system, allowing for compact design and easy reconfiguration, enabling the conversion of non-motorized modules into motorized ones and integration with drones for versatile applications such as Explosive Ordnance Disposal, mining, and construction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If traditional robotic architectures use large motors to provide sufficient torque, then the torque requirement is met, but the motor size and overall volume increase significantly
Solution Approach 1:
The robotic system is divided into modular segments that can be independently configured. Each module contains standardized components including motors, wheels, and connectors that can be assembled in different combinations to achieve required torque without always requiring large motors in every configuration
Solution Approach 2:
The patent employs universal motor modules that can serve multiple functions across different robotic configurations. The same motor module can be used in various positions and applications, optimizing motor size selection based on overall system requirements rather than over-engineering each individual component
2Volume of moving object
If modular robotic structures use folded configurations to reduce volume, then compactness is improved, but the occupied volume when folded increases compared to extended configurations
Solution Approach 1:
The robotic modules are designed to nest within each other when folded or retracted. Inner modules can be positioned within outer modules, significantly reducing the overall occupied volume while maintaining structural integrity through standardized connection interfaces
3Adaptability or versatility
If robotic structures are designed for high versatility and reconfigurability, then adaptability is improved, but device complexity increases
Solution Approach 1:
The system is segmented into standardized modules with uniform connection interfaces, allowing complex reconfigurations through simple assembly operations. This modular approach enables versatility without proportionally increasing overall system complexity
Solution Approach 2:
Universal connectors and standardized component interfaces allow the same set of modules to be reconfigured for multiple applications. This reduces the need for specialized components for each function, thereby reducing overall device complexity while maintaining high adaptability
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
The modular design enhances flexibility and adaptability, allowing for the creation of lightweight, adaptable robotic limbs and drones that can be easily reconfigured for various tasks, including EOD and construction, while reducing the need for large motors and optimizing space usage.
Implementation Method 1
a leadscrew mounted to the housing between the first and second wheels, the leadscrew extending along a second longitudinal axis, the leadscrew rotating about the second longitudinal axis; and a connector coupled to the leadscrew and configured to move longitudinally along the second longitudinal axis in response to a rotation of the leadscrew
Implementation Method 2
a transmission drivingly connecting the driver to the leadscrew
Data Source
AI summary
A motorized module for a modular robotic structure comprises a housing, a first wheel, a second wheel, an elongated structure mounted to the first and second wheels and configured to rotate the first and second wheels. A driver is mounted to the housing between the first and second wheels. A leadscrew is mounted to the housing between the first and second wheels. A transmission drivingly connecting the driver to the leadscrew. A connector is coupled to the leadscrew and configured to move longitudinally along the second longitudinal axis in response to a rotation of the leadscrew, the connector being attached to the elongated structure.