Multi-Level Cable-Driven Robot for Complex Surface Operations
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Solution Overview
Problem
Existing robotic systems for maintaining and cleaning tall or complex building surfaces are often large in size, difficult to deploy in restrictive spaces, and limited to planar surfaces, posing safety risks and inefficiencies.
Innovation Solution
A compact, internally-actuated cable-driven robot with multiple cable actuation systems on different elevation levels, allowing adjustable cable lengths and tensions to navigate complex geometries and maintain contact on irregular surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing robotic systems are designed with larger size to perform surface operations, then they can maintain stability and perform operations, but they leave a larger footprint and are difficult to deploy in restrictive spaces
Solution Approach 1:
The patent applies dimensionality change by arranging cable actuation systems on multiple elevation levels (first and second levels) rather than a single plane. This vertical stacking reduces the horizontal footprint while maintaining the necessary cable tension and control capabilities for stable operation on surfaces.
Solution Approach 2:
The patent implements nesting by placing cable actuation systems at different elevation levels within a compact vertical space. The first cable actuation system is positioned at a first elevation level and the second cable actuation system is positioned at a second elevation level, effectively nesting functional components vertically to reduce overall device volume.
2Ease of operation
If existing robotic systems are designed to be compact for easier deployment, then they reduce footprint and are easier to transport, but they may lack the stability and operational capability
Solution Approach 1:
The patent uses vertical spatial arrangement of cable actuation systems on multiple elevation levels to achieve compactness without sacrificing operational capability. This dimensional reorganization allows the system to be transported and deployed more easily while maintaining sufficient stability through proper cable tension distribution.
3Device complexity
If existing robotic systems rely on gravity or planar surfaces for operation, then they can maintain simple design, but they cannot be used for irregular surfaces such as curved surfaces or surfaces with complex geometries
Solution Approach 1:
The patent implements dynamics by making the cable lengths automatically adjustable through cable actuation systems. The system can dynamically modify cable lengths and tensions in real-time to adapt to various surface geometries, enabling operation on irregular surfaces while maintaining relatively simple device design.
Solution Approach 2:
The patent applies parameter changes by automatically adjusting cable lengths and tensions based on surface conditions. The cable actuation systems modify physical parameters (length, tension) to maintain contact and stability on different surface types, from planar to curved to complex geometries.
4Ease of operation
If existing systems use manually operated cable driven robotic systems, then they can be controlled flexibly, but they are time consuming to set-up and operate
Solution Approach 1:
The patent implements self-service through automatic cable length adjustment and tension maintenance. The cable actuation systems autonomously regulate cable parameters without requiring manual intervention, reducing setup time and operational time while preserving control flexibility through programmable automation.
Data Source
AI summary
Compact, multi-level cable-driven devices and systems for performing surface operations. The device comprises a structural frame, one or more cable actuation systems arranged on a first elevation level of the structural frame, and one or more cable actuation systems arranged on a second elevation level of the structural frame. Each cable actuation system is configured to be coupled to a respective cable, the respective cable is configured to be removably connected to different positions on a work surface such that the device can move on the work surface by adjusting the length of the one or more cables.