Retractable Third Leg Transmission for Robotic Mode Transition
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Solution Overview
Problem
Robotic remote-controlled apparatuses face challenges in transitioning between bipod and tripod modes while maintaining stability and mobility, as existing systems require multiple components to move in concert, which can be complex and inefficient.
Innovation Solution
A robotic apparatus with a housing, first and second legs, and a retractable third leg, utilizing a transmission system, including a cam system and linkage, to pivot and extend the legs and feet in a coordinated manner, allowing smooth transition between bipod and tripod modes while driving on a surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple components move in concert to transition between bipod and tripod modes, then the apparatus can change configurations, but the device complexity increases
Solution Approach 1:
The patent combines multiple leg actuation functions into a single transmission system. The transmission system includes a motor, gear train, and linkage mechanism that simultaneously controls the extension and retraction of multiple legs (first leg, second leg, and third leg) through coordinated mechanical motion, reducing the number of independent actuators needed
Solution Approach 2:
The transmission system serves multiple functions: it actuates the first leg, second leg, and third leg for mode transitions; it also operates as a locking mechanism to maintain stability in both bipod and tripod configurations. This multi-functionality reduces the need for separate components for actuation and locking
2Adaptability or versatility
If the third leg is retractable to enable mode transitions, then the apparatus can switch between bipod and tripod modes, but the mechanism complexity increases
Solution Approach 1:
The third leg is designed to retract into the housing, with its components nested within the housing structure when not in use. This nesting approach allows the third leg to be stored compactly within the housing, enabling smooth transitions between bipod and tripod modes without requiring separate storage mechanisms
Solution Approach 2:
The transmission system employs dynamic mechanical linkages that adapt their configuration during mode transitions. The linkage mechanism changes its geometric arrangement as the legs extend and retract, allowing the system to smoothly transition between configurations without requiring complex electronic control or multiple discrete actuators
3Stability of the object's composition
If the legs and feet pivot in a coordinated manner, then the apparatus maintains stability during transitions, but the transmission system complexity increases
Solution Approach 1:
The transmission system merges the actuation of leg extension with foot pivoting into a single coordinated mechanical motion. As the motor drives the gear train and linkage, both the legs extend and the feet pivot simultaneously through the interconnected mechanical paths, ensuring stability without requiring separate control systems
Solution Approach 2:
The transmission system is designed so that the feet begin to pivot in anticipation of the legs reaching their final extended position. This preliminary action ensures that the feet are already in the correct orientation when the legs complete their extension, maintaining stability throughout the transition and eliminating the need for complex real-time coordination control
Data Source
AI summary
A robotic apparatus moveable between a bipod mode and a tripod mode includes a housing, a first leg and a second leg extending from the housing, and a retractable third leg positioned between the first leg and the second leg. The third leg is configured to extend from the housing in the tripod mode and retract at least partially into the housing in the bipod mode. The robotic apparatus also includes a motor disposed within the housing and a transmission system coupled between the motor and at least one of the first leg, the second leg, and the third leg. The transmission system is configured to move the robotic apparatus between the bipod mode where the first leg and the second leg support the housing and the tripod mode where the first leg, the second leg, and the third leg support the housing.