Modular Wheel Assembly for Stepped Terrain Traversal
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Solution Overview
Problem
Existing vehicle wheel systems are complex, heavy, and expensive, and require substantial reconfiguration to navigate difficult terrain, limiting their applicability and convenience for various users and applications.
Innovation Solution
A modular wheel assembly with rotary drive modules, rotatable arms, and a control module that senses terrain and controls wheel rotation to enable vehicles to traverse stepped terrain, maintaining balance and stability through intelligent suspension and adaptive movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional wheelchair modifications are used to traverse steps, then obstacle traversal capability is improved, but device complexity and weight increase substantially
Solution Approach 1:
The wheel assembly is divided into modular components: a hub assembly, multiple wheel elements arranged radially, and individual drive mechanisms for each wheel. This segmentation allows the complex obstacle traversal function to be distributed across simpler, interchangeable modular units that can be independently controlled and replaced.
Solution Approach 2:
The wheel assembly is designed as a universal mechanism that can traverse various terrain types (steps, curbs, uneven surfaces) using the same basic structure. The multi-functional capability is achieved through the radial arrangement of wheels that can be independently positioned, eliminating the need for multiple specialized devices.
2Adaptability or versatility
If track-based undercarriage systems are used to bridge step edges, then stair climbing capability is improved, but weight and size increase significantly
Solution Approach 1:
Instead of a single heavy track-based undercarriage, the system uses multiple lightweight wheel elements radially arranged around a hub. Each wheel element can be independently actuated to perform stair-climbing motions, distributing the weight and complexity across multiple small components rather than one large structure.
Solution Approach 2:
The wheel elements are positioned on rotatable arms that can dynamically adjust their positions during operation. This dynamic reconfiguration allows the same lightweight structure to adapt to different terrain requirements, providing stair-climbing capability without the need for heavy static structures.
3Adaptability or versatility
If multiple wheels in dipole systems are used for terrain traversal, then terrain adaptability is improved, but structural complexity and cost increase
Solution Approach 1:
Multiple wheel elements are merged into a single integrated hub assembly that rotates as one unit. The wheels remain radially arranged but share a common rotational mechanism, reducing the complexity of controlling multiple independent wheel systems while maintaining terrain adaptability through the hub's rotational degrees of freedom.
Solution Approach 2:
The radial wheel assembly serves multiple functions: it can roll on flat terrain, climb steps by rotating the hub, and navigate curbs by adjusting wheel positions. This universal design eliminates the need for separate mechanisms for different terrain types, reducing overall system complexity.
4Adaptability or versatility
If reciprocating limb motion is used to walk on terrain, then terrain traversal capability is improved, but speed decreases due to sequential limb processing
Solution Approach 1:
Multiple wheel elements are combined into a synchronized rotational system driven by a single hub assembly. This allows all wheels to move in coordination rather than sequentially, enabling parallel processing of terrain interactions and significantly increasing traversal speed compared to reciprocating limb systems.
Solution Approach 2:
The rotational motion of the hub assembly provides continuous terrain engagement rather than intermittent reciprocating motion. The wheels maintain constant contact with the terrain during rotation, eliminating the idle periods between limb movements and maintaining continuous productive action.
Data Source
AI summary
A disclosed vehicle wheel assembly includes a plurality of wheels, a plurality of rotary drive modules each having a respective rotation axis, and a plurality of rotatable arms, wherein each arm is arranged to extend radially from a rotation axis of a respective rotary drive module to couple the respective rotary drive module to a respective wheel. Each rotary drive module is operable to drive rotation of a respective rotatable arm about the rotation axis of the drive module, to thereby rotate a respective wheel about the rotation axis. A control module can sense stepped terrain, and control each rotary drive module to enable a vehicle to travel over the stepped terrain.