Mobile Robot Attitude Control for Uneven-Ground Stability
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Solution Overview
Problem
Mobile robots lack sufficient stability, particularly in the direction perpendicular to their driving direction, when navigating uneven surfaces, leading to potential overturning during operation.
Innovation Solution
The design incorporates an attitude control motor with a connecting shaft that provides driving force to steer wheels, allowing them to adjust their position relative to the body, enhancing stability by enabling precessional motion and maintaining contact with the ground, even on uneven surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If mobile robots are driven on uneven floors or ground, then they can operate in more environments, but they may overturn during driving process
Solution Approach 1:
The patent implements dynamic attitude control by enabling the wheels to perform precessional motion through the connecting shaft mechanism. The attitude control motor dynamically adjusts the wheel orientation in real-time during driving, allowing the robot to adapt to uneven surfaces while maintaining stability. This dynamic adjustment capability resolves the contradiction by making the system both adaptable to various environments and reliable in preventing overturning.
Solution Approach 2:
The patent changes the orientation parameters of the wheels during operation through the connecting shaft mechanism. By varying the wheel angle and orientation dynamically, the robot can maintain contact with uneven ground surfaces while keeping the body stable. This parameter change approach allows the system to adapt to different terrain conditions without compromising driving stability.
2Ease of operation
If the second end of the connecting shaft is located higher or lower than the first end, then the wheel can be steered effectively, but the structure becomes more complex
Solution Approach 1:
The patent introduces a vertical dimension to the connecting shaft structure, positioning the second end higher or lower than the first end. This dimensional change enables effective steering control by creating a moment arm that amplifies the steering effect. The inclined configuration transforms a simple horizontal connection into a three-dimensional mechanism that provides superior steering capability while maintaining reasonable structural simplicity.
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
This solution improves the stability of mobile robots in the left-right direction, preventing overturning and maintaining effective driving performance on uneven terrain without increasing the robot's size or reducing mobility.
Implementation Method 1
allowing them to adjust their position relative to the body, enhancing stability by enabling precessional motion and maintaining contact with the ground
Data Source
AI summary
A movable object such as a mobile robot is designed to be driven indoors or outdoors with improved stability. Stability is enhanced by an attitude control mechanism to improve attitude stability of the movable object in a direction perpendicular to a driving direction thereof. The movable object includes an attitude control motor including a connecting shaft having a first end connected to a body part and a second end connected to a wheel, wherein the second end of the connecting shaft is located higher or lower than the first end of the connecting shaft.