Morphable Inertial Appendage for Rapid Torque Control
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Solution Overview
Problem
Conventional mechanical and robotic systems face limitations in rapid movement and maneuverability due to redundant masses and complex designs, which hinder efficient locomotion and torque generation, especially in dynamic applications.
Innovation Solution
A morphable inertial appendage system that can change its configuration and mass distribution to provide timely inertial forces, utilizing a parallel motor actuator system, telescopic mechanisms, and a spherical five-bar manipulator to enable high-performance movements without requiring high motor speeds, allowing for adjustable moments of inertia and efficient torque control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If conventional actuators and structures with predefined mechanical properties are used, then system structure is simple and easy to manufacture, but system performance deteriorates during rapid maneuvers due to redundant masses
Solution Approach 1:
The patent applies the dynamics principle by making the appendage mass morphable and adjustable during operation. The appendage can change its mass distribution and moment of inertia dynamically, allowing the system to optimize performance for different operational requirements - achieving high speed during rapid maneuvers while maintaining structural simplicity during normal operation.
2Device complexity
If fixed mass appendages are used, then device complexity is low, but adaptability deteriorates because mechanical properties cannot be changed
Solution Approach 1:
The appendage incorporates morphable mass distribution capability that allows dynamic adjustment of mechanical properties during operation, enabling the system to adapt to different operational requirements while maintaining relatively simple device architecture.
Solution Approach 2:
The patent changes the physical parameters of the appendage by allowing morphable mass distribution and adjustable moment of inertia. This enables the same physical structure to exhibit different mechanical characteristics depending on operational needs, achieving high adaptability without proportionally increasing device complexity.
3Force
If high motor speeds are used to generate impulsive torques, then torque generation capability is improved, but device complexity increases and response time deteriorates
Solution Approach 1:
The patent applies preliminary action by pre-positioning the morphable mass in optimal locations before torque generation is needed. The adjustable moment of inertia allows the system to prepare the appendage configuration in advance, enabling rapid torque generation without requiring high motor speeds or complex control systems during the actual maneuver.
Solution Approach 2:
By changing the moment of inertia parameter of the appendage, the system can generate higher impulsive torques for the same motor speed. This parameter change allows torque generation capability to be improved without increasing motor speed requirements or device complexity.
4Force
If control moment gyroscopes are used to supply large rotation torques, then torque capability is improved, but device complexity and volume requirements increase
Solution Approach 1:
The morphable appendage system applies preliminary action by pre-configuring the mass distribution to maximize torque generation efficiency. This allows the system to achieve large rotation torques without requiring the large volume and complex mechanical structure of control moment gyroscopes, as the torque is generated through optimized mass positioning rather than large rotating components.
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 morphable inertial appendage system enhances locomotion capabilities, provides direct torque control, and improves maneuverability by allowing for variable inertial forces, enabling high-speed and accurate movements in various applications, including robotics, aerospace, and defense systems.
Implementation Method 1
A morphable inertial appendage that is attachable to a host mechanical system and that imparts inertial forces to the host in a timely manner
Data Source
AI summary
Devices, systems and methods of controlling movement of a host mechanical system using inertial forces imparted by an augmentable or morphable appendage. Such appendages are attached to the host mechanical system such that augmentation or morphing of the appendage to move a mass of the appendage from an extended to a retracted configuration imparts inertial forces to the supporting structure. Augmentation/morphing is controlled and coordinated such that imparted inertial forces facilitate a desired movement of the mechanical system. The imparted forces can include translation forces and/or rotational forces along one or more axes. The augmentation or morphing of the appendage can be performed concurrently with separately controlled coordinated movement of the appendage to facilitate a desired movement of the mechanical system. Such appendages can include, but are not limited to, telescoping and/or folding designs.