Omnidirectional Locomotive Module With Bending Actuator
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Solution Overview
Problem
Existing articulated locomotive modules lack omnidirectional crawling motion and surface compliance simultaneously, leading to limited maneuverability and increased size and weight due to multiple driving actuators and external joints, which restricts navigation in constrained spaces and multi-axial bending capabilities.
Innovation Solution
A multidirectional locomotive module with omnidirectional bending, featuring two-degree of freedom joints, bending actuators, and a sprocket chain mechanism that allows for compliance along multiple axes, enabling crawling, wheeled, and rolling motions, with a reduced number of driving actuators and external joints, facilitating adaptability on uneven surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional tank-like crawler modules are used, then crawling motion along one axis is achieved, but omnidirectional crawling motion is not provided
Solution Approach 1:
The crawler module is divided into three circular rigid components (first, second, and third circular rigid components) that can independently rotate relative to each other. This segmentation allows each component to be controlled separately, enabling omnidirectional motion by coordinating the rotation of individual segments rather than requiring a complex reconfigurable structure.
Solution Approach 2:
The module incorporates two degree of freedom joints that enable dynamic reorientation of the circular rigid components during operation. These joints allow the module to adapt its configuration in real-time, switching between crawling, rolling, and wheeled motions without requiring multiple fixed-configuration modules.
2Ease of operation
If cascaded assembly of multiple locomotive modules is used to achieve surface compliance, then ease of operation on uneven surfaces is improved, but size and weight increase due to multiple actuators and external joints
Solution Approach 1:
The patent integrates the driving actuator functionality directly into the circular rigid components themselves, eliminating the need for separate external actuators and joints. The first, second, and third circular rigid components each incorporate driving mechanisms, merging the functions of structure and actuation into unified elements, thereby reducing overall weight while maintaining compliance capability.
Solution Approach 2:
Surface compliance is achieved through localized rotation of individual circular rigid components rather than requiring the entire cascaded structure to be flexible. Each component can independently adjust its orientation to adapt to local surface variations, providing compliance where needed without adding weight throughout the entire module assembly.
3Ease of operation
If cascaded arrangement of modules with external joints connected to actuators is used, then crawling motion is achieved, but the number of actuators increases leading to increased size and weight
Solution Approach 1:
Each circular rigid component serves multiple functions: it provides structural support, acts as a driving element, enables rotation for directional changes, and contributes to omnidirectional motion capability. This multi-functionality eliminates the need for separate actuators for each function, reducing the total number of actuators required while maintaining full crawling motion capability.
Solution Approach 2:
The circular rigid components are self-propelled, with each component containing its own driving actuator that enables it to rotate and move independently. This self-service capability eliminates the need for external actuators to drive each module in the cascade, significantly reducing the number of actuators required in the system.
4Adaptability or versatility
If existing articulated modules are used, then some crawling motion is achieved, but multi-axial bending along the axis is not achieved thus limiting degree of movement
Solution Approach 1:
The patent adds rotational freedom around the vertical axis to the existing two-degree-of-freedom joints, creating three-degree-of-freedom joints that enable bending and rotation in multiple directions. This dimensional enhancement allows the module to achieve multi-axial bending along its length, enabling navigation through complex three-dimensional paths and tight spaces that were previously inaccessible.
Data Source
AI summary
A multidirectional locomotive module with omnidirectional bending that is compliant along multiple axis is provided. The locomotive module includes, (A) a first part that includes (i) one or more circular rigid components which are coupled using a two degree of freedom joint, (ii) bending actuator that actuates the two degree of freedom joint enabling bending of the multidirectional locomotive module to an angle ranging from 0 to 90 degrees about a Z-axis in a direction to achieve surface compliance with an external surface, and (B) a second part that is elongated in shape with circular cross-section along a surface length and hemispherical in shape an end portion with a surface that is formed by a power transmission sprocket chain and an arrangement of curved components enabling sideways rolling of the multidirectional locomotive module, also enabling wheeled and legged locomotion in vertical position.