Reconfigurable Robotic Truss with Modular Roller Modules
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Solution Overview
Problem
Conventional robots are not human-safe, adaptable, or capable of navigating diverse terrains, lacking reconfigurable structures and control mechanisms necessary for effective interaction with humans and dynamic environments.
Innovation Solution
A robotic truss system with inflatable or bistable tubes and modular roller elements that can translate along pliable members, allowing for dynamic angle adjustment and distributed control, enabling shape morphing and robust interaction with environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If conventional rigid robotic structures are used, then structural strength and stability are improved, but adaptability to diverse terrains and human safety deteriorate
Solution Approach 1:
The robotic structure is divided into multiple modular roller elements that can independently translate along pliable members. Each roller module functions as an independent unit with sensors and actuators, allowing the overall structure to be segmented and reconfigured for different terrains while maintaining structural integrity through the modular connection system.
Solution Approach 2:
The robotic structure transitions from rigid to dynamic configurations through the translation of roller elements along pliable members. The structure can dynamically adjust its geometry by moving rollers to different positions, enabling adaptation to various terrains while maintaining strength through controlled dynamic reconfiguration rather than static rigidity.
Solution Approach 3:
Pliable members replace traditional rigid structural elements, providing flexibility and adaptability while maintaining sufficient structural strength. These flexible members allow the robotic structure to conform to diverse terrains and human-safe interactions while the roller elements provide discrete support points to maintain necessary structural integrity.
2Adaptability or versatility
If reconfigurable robotic structures are implemented, then adaptability and human safety are improved, but device complexity and control difficulty increase
Solution Approach 1:
Each roller element is designed as a universal module that can perform multiple functions: translation along pliable members, sensing of position and environment, and structural support. This multi-functionality reduces overall system complexity by using identical standardized modules throughout the structure rather than requiring specialized components for each function.
Solution Approach 2:
The robotic structure incorporates distributed sensors within each roller element that autonomously detect position, orientation, and environmental conditions. Each module independently measures its state and communicates with the control system, enabling self-monitoring and reducing the complexity of external sensing systems while improving adaptability.
3Adaptability or versatility
If distributed control of roller modules is implemented, then adaptability and coordination are improved, but measurement precision and state estimation difficulty increase
Solution Approach 1:
Each roller element is equipped with sensors that continuously measure its position along the pliable member and its orientation in space. This feedback from distributed sensors throughout the structure enables precise state estimation by providing real-time data from multiple points, allowing the control system to accurately determine the configuration of the entire robotic structure despite its reconfigurability.
Solution Approach 2:
The state estimation system uses a hierarchical approach where local measurements from individual roller elements are nested within the global state estimation of the entire robotic structure. Each module's local position and orientation data are integrated into the overall configuration, allowing precise measurement of the complex distributed system through nested levels of measurement and estimation.
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 system provides a human-safe, adaptable, and robust robotic structure capable of complex 3D interactions, overcoming limitations of traditional robots in terms of adaptability, safety, and environmental tolerance, while being cost-effective and reliable in real-world scenarios.
Implementation Method 1
A robotic roller module which is configured to translate along a pliable member
Implementation Method 2
An electromechanical device could be integrated to induce deformation of the members such that elastic energy can be stored and subsequently released for fast dynamic motions
Implementation Method 3
the plurality of robotic modules measures their absolute position with respect to their neighboring modules by transmitting and receiving acoustic signals that travel through said members
Data Source
AI summary
Adaptable and customizable truss-like robots are provided. The robotic truss has robotic roller modules configured to translate along one or more pliable member and therewith control the shape or design of the robot.