Omnidirectional Platform Layout for Rough-Terrain Mobility
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Solution Overview
Problem
Existing omnidirectional platforms require complex and expensive wheels, such as spherical wheels, which are unsuitable for rough terrains and prone to discoordination due to ground imperfections, limiting their mobility to smooth, flat surfaces.
Innovation Solution
An omnidirectional platform with a first module having two drive wheels and a free rotating rolling element, supported by a suspension device, allowing precise control of tangential velocities and orientation to achieve omnidirectional displacement without complex wheels, ensuring stability and contact with the ground even on rough surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If spherical wheels are used to achieve omnidirectional movement, then the platform can move in any direction on smooth surfaces, but the wheels are expensive, hard to maintain, and unsuitable for rough terrains
Solution Approach 1:
The platform is divided into two independent modules: a first module with two coaxial drive wheels for propulsion, and a second module with four omnidirectional wheels for lateral movement. This segmentation allows each module to use simpler, more appropriate wheel types for its specific function, avoiding the need for complex spherical wheels throughout the entire system.
Solution Approach 2:
Instead of making all wheels omnidirectional (as in prior art), the invention inverts the approach by making only the supporting wheels omnidirectional while using simple drive wheels for propulsion. The vertical axle connects modules in reverse of conventional designs, with the drive module below and the omnidirectional module above.
2Adaptability or versatility
If four omnidirectional wheels support the second module directly on the ground, then omnidirectional movement is achieved, but ground imperfections cause friction variations that discoordinate the movement
Solution Approach 1:
The platform separates the omnidirectional support function (second module with four wheels) from the drive function (first module with two wheels). This segmentation isolates the sensitive omnidirectional movement mechanism from direct ground contact for propulsion, reducing the impact of ground imperfections on movement coordination.
Solution Approach 2:
The vertical axle acts as an intermediary connecting the drive module to the omnidirectional support module. It transmits driving forces while allowing independent rotation of the support module, mediating between the simple drive wheels and the ground-contacting omnidirectional wheels to maintain movement coordination.
3Manufacturing precision
If six wheels are used to ensure omnidirectional capability, then complete contact with smooth ground is achieved, but the platform cannot adapt to rough terrains maintaining permanent wheel contact
Solution Approach 1:
The vertical axle enabling relative rotation between modules provides dynamic adaptability. When encountering rough terrain, the omnidirectional module can rotate independently to adjust wheel contact, allowing the platform to maintain mobility on uneven surfaces while preserving precise omnidirectional control on smooth ground.
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 platform achieves precise and stable omnidirectional movement on various terrains by independent control of drive wheels and a free rotating rolling element, maintaining constant contact and reducing friction, thus overcoming the limitations of previous solutions.
Implementation Method 1
maintaining constant contact and reducing friction
Data Source
Figure 1~2
Figure 3
Figure 4~5
AI summary
An omnidirectional platform comprising a first module (1) with at least one first drive wheel (10) connected to a first horizontal axle (11) actuated by means of a first actuator (12) and a second drive wheel (20) connected to a second axle (21) actuated by means of a second actuator (22); a second module (2) connected to said first module (1) by means of a third vertical axle (31) actuated by means of a third actuator (32); a control device (3) connected to the first, second and third actuators (12, 22, 32) wherein the second module (2) is supported on the first module (1); and the first module (1) also includes a free rotating rolling element (40). In a second embodiment, the platform is located upside down, its wheels remaining accessible from a transporting plane, forming a static omnidirectional transporter for the omnidirectional transfer of packages.