Robotic Vehicle Center of Gravity Adjustment via Movable Neck
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Solution Overview
Problem
Small robots face challenges in climbing obstacles larger than themselves due to their center of gravity, which affects stability, and require flexible sensor head positioning for inspection tasks.
Innovation Solution
The design incorporates a chassis with a steerable drive, movable neck extensions, and articulated sensor heads, allowing for shifting of the center of gravity through flippers and neck pivoting, enabling stable obstacle navigation and inspection poses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the robot size is reduced to make it man-portable, then portability is improved, but the ability to climb obstacles larger than itself deteriorates
Solution Approach 1:
The robot employs dynamic center of gravity adjustment through movable components. The neck assembly can pivot and extend, and the flipper can rotate, allowing the robot to dynamically reposition its center of gravity during obstacle navigation. This dynamic adjustment enables small robots to climb obstacles larger than themselves by temporarily shifting weight distribution to achieve stable climbing poses.
2Device complexity
If the robot has a fixed center of gravity, then structural simplicity is improved, but obstacle navigation capability deteriorates
Solution Approach 1:
The robot transitions from a static to a dynamic center of gravity system. The neck assembly with its pivot joints and the rotatable flipper create movable mass distribution. During normal operation, the center of gravity remains relatively stable, but during obstacle navigation, the system can pivot the neck and rotate the flipper to shift the center of gravity to optimal positions for climbing, thereby enhancing obstacle navigation capability without requiring complete structural redesign.
Solution Approach 2:
The robot changes the positional parameters of its center of gravity by manipulating the neck and flipper components. By pivoting the neck assembly and rotating the flipper, the system varies the spatial distribution of mass, thereby changing the center of gravity position. This parameter change enables the robot to adapt to different obstacle configurations and achieve stable climbing poses that would be impossible with a fixed center of gravity.
3Device complexity
If the robot uses a simple sensor head, then device complexity is improved, but inspection capability deteriorates
Solution Approach 1:
The sensor head is mounted on a dynamic neck assembly with pivot joints that allow multi-degree-of-freedom movement. The neck can pivot laterally and vertically, and the flipper can rotate, providing the sensor head with extensive range of motion. This dynamic positioning capability enables the sensor head to inspect various areas including under the robot body, around obstacles, and at different angles, significantly enhancing inspection capability without requiring a completely complex sensor system.
Data Source
AI summary
Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.