Omnidirectional Drive Unit Battery Layout for Low-Inertia Rotation
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Solution Overview
Problem
Existing autonomous omnidirectional drive units are bulky due to the non-central placement of batteries, which increases inertia and complicates wiring, making them less efficient and more costly.
Innovation Solution
The drive unit is designed with the battery positioned between the first and second drive wheels, allowing for central placement and reducing inertia, while also simplifying wiring by using a single battery instead of two symmetrical ones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If two symmetrical batteries are placed in peripheral areas to homogeneously distribute weight, then weight distribution is improved, but rotational inertia increases and rotational speed is limited
Solution Approach 1:
The battery is divided into two separate battery packs that are positioned symmetrically on opposite sides of the vertical central axis. This segmentation allows the weight to be distributed homogeneously across the drive unit while keeping each battery pack at a distance from the center that balances stability and rotational performance
Solution Approach 2:
The batteries are positioned asymmetrically relative to the horizontal axis (at different distances from the horizontal geometric axis) while maintaining symmetric distribution relative to the vertical axis. This asymmetric positioning optimizes the moment of inertia for rotational movements while maintaining homogeneous weight distribution for stability
2Device complexity
If two narrow elongated batteries are placed traversing the entire length between drive assemblies, then central position is achieved, but drive unit width becomes substantial
Solution Approach 1:
Instead of placing batteries in a linear arrangement traversing the length of the drive unit, the batteries are positioned in a distributed configuration across the width, mounted on opposite sides of the vertical central axis. This dimensional repositioning reduces the required width while achieving central weight distribution
3Speed
If two batteries are used for central placement, then inertia is reduced, but wiring becomes more complicated and expensive
Solution Approach 1:
The two battery packs are electrically connected in parallel configuration, merging their output to provide power to both drive motors. This parallel connection simplifies the wiring architecture compared to series connections or complex distribution networks, reducing both wiring complexity and cost while maintaining the performance benefits of two centrally-positioned battery packs
Data Source
AI summary
The present invention relates to an autonomous omnidirectional drive unit including a chassis (40) defining a front third (41), which contains a first drive wheel (11) with a first gearbox (13), a second drive wheel (21) with a second gearbox (23) coaxial with a horizontal geometric axis (EH), and a battery (30) between same, an intermediate third (42) which contains a first motor (12) and a second motor (22) connected to the first and second drive wheels (11, 21) and a vertical housing (70) between same concentric with a vertical geometric axis (EV); and a rear third which contains at least one caster wheel (50), the first and second motors (12, 22) being controlled by a control device (80) which generates control commands considering the distance (D) existing between the horizontal and vertical geometric axes (EH, EV).