Robotic Vehicle Base Layout With Ball Casters for Tip Resistance
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Solution Overview
Problem
Autonomous mobile robots, especially tall ones, are prone to tipping over due to their high center of gravity, which can be caused by obstacles or intentional tipping, affecting their operational stability and functionality.
Innovation Solution
A stabilizing drive system is implemented with ball casters positioned at the corners of the robot base, lowering the center of gravity and providing additional stability, allowing the robot to navigate over obstacles without tipping, even when one or more casters are in contact with the floor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If the robot is made taller to see at greater distance and sense obstacles, then the sensing capability is improved, but the robot becomes easier to tip over and stability deteriorates
Solution Approach 1:
The patent applies counterweight by adding weight to the lower portion of the robot through ball casters positioned at the corners of the base. This lowers the center of gravity and creates a stabilizing effect that counteracts the tipping moment caused by the tall upper structure, allowing the robot to maintain stability despite its height for improved sensing capability.
2Adaptability or versatility
If the robot is made taller to perform security patrol functions, then the operational functionality is improved, but the risk of tipping over increases
Solution Approach 1:
The ball casters positioned at the corners of the base provide counterweight stabilization that prevents tipping during operational maneuvers. This allows the tall robot to maintain reliability and perform security patrol functions without excessive risk of tipping over.
Solution Approach 2:
The ball casters are designed to be movable rather than fixed, allowing them to dynamically adjust to obstacles and terrain variations. This dynamic adaptation enables the robot to maintain stability during navigation while preserving its tall structure for operational functionality.
3Stability of the object's composition
If ball casters are added to lower the center of gravity and provide stabilization, then the robot stability is improved, but the device complexity increases
Solution Approach 1:
The ball casters serve multiple functions: they lower the center of gravity for stability, act as additional contact points with the ground for navigation, and provide passive stabilization without requiring active control. This multi-functionality achieves improved stability while minimizing the increase in device complexity.
Solution Approach 2:
The ball casters provide passive stabilization through their mechanical design alone, without requiring sensors, motors, or active control systems. They automatically adjust to maintain stability, making the system self-regulating and reducing overall device complexity.
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 enhances the robot's stability, enabling it to tilt up to 45° without tipping and navigate around obstacles effectively, reducing the risk of tipping and maintaining functionality.
Implementation Method 1
a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving
Data Source
AI summary
An apparatus, system and method capable of providing a stabilizing drive system for a robotic vehicle. The apparatus, system and method may include at least a robot body base; at least two drive wheels within the robot body base; a processing system having non-transitory computing code associated therewith which, when executed by the processing system, causes to be driven the at least two drive wheels; and a plurality of ball casters within the robot body base, wherein the ball caster are positioned relative to the robot base and to the at least two drive wheels so as to lower a center of gravity of the robot and provide stabilization of the driving.