Omnidirectional Wheel Linkage for Straight-Line Human-Powered Mobility
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Solution Overview
Problem
Human-powered mobile bodies with omnidirectional wheels face challenges in moving linearly and smoothly, especially when equipped with measurement devices, due to their high degree of freedom, which makes it difficult to navigate through intended paths without hitting obstructions, particularly in narrow areas.
Innovation Solution
A mobile body design featuring three omnidirectional wheels with axles displaced by 120 degrees, a connection mechanism that connects and disconnects the wheels to limit movement direction, and a brake mechanism to control rotational directions, allowing for linear movement by restricting the wheels' rotational freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If omnidirectional wheels with high degree of freedom are used, then the mobile body can move freely in any two-dimensional direction, but it becomes difficult to move linearly through an intended path without hitting obstructions
Solution Approach 1:
The connection mechanism dynamically changes the degree of freedom of the wheel system. When connected, the first and second wheels are constrained to rotate in opposite directions only, enabling straight linear movement. When disconnected, the wheels regain full omnidirectional capability for navigating obstructions or changing direction freely.
Solution Approach 2:
The system changes the operational parameters of the wheels by switching between connected and disconnected states. In the connected state, the rotational parameter is restricted to opposite directions only. In the disconnected state, full rotational freedom is restored, allowing adaptation to different movement requirements.
2Weight of moving object
If a human-powered mobile body is designed without a motor, then weight is reduced and smooth rapid movement is improved, but it requires significant human effort to control the high-degree-of-freedom omnidirectional wheels
Solution Approach 1:
The connection mechanism provides dynamic constraint that reduces the operational complexity for the user. When the user needs to move straight, connecting the wheels creates a mechanical linkage that automatically coordinates their motion, reducing the cognitive and physical effort required to control them.
Solution Approach 2:
The connection mechanism acts as an intermediary between the user's input and the wheel motion. It translates simple user input into coordinated rotation of multiple wheels, reducing the direct control effort needed while maintaining the human-powered lightweight design.
3Ease of operation
If the first and second all-directional wheels rotate in opposite directions, then linear movement is enabled, but the connection mechanism adds structural complexity
Solution Approach 1:
The connection mechanism is segmented into discrete connectable components that can be easily engaged and disengaged. This modular approach reduces overall complexity by allowing the connection function to be added or removed without affecting the core wheel structure.
Solution Approach 2:
The connection mechanism uses dynamic elements such as springs or flexible linkages that automatically engage when force is applied and disengage when force is released. This self-actuating behavior reduces the need for complex control systems while enabling the opposite rotation mode for linear movement.
Data Source
AI summary
A mobile body that is human-powered includes three all-directional wheels with axles thereof displaced from each other by 120 degrees, a connection portion that connects two front wheels, a brake attached to a rear wheel, and a disconnection portion that disconnects the two front wheels from each other. The connection portion connects the two front wheels such that the two front wheels rotate in directions opposite to each other. The connection portion connects the front wheels with the rear wheel such that the two front wheels rotate in the same direction, while the front wheels rotate in a direction opposite to a rotational direction of the rear wheel.