Autonomous Robot Double Drive Assembly for Holonomic Movement
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Solution Overview
Problem
Conventional single drive units for autonomous robots require large motors due to high torque needs, leading to a large form factor that is impractical for increased payloads, and lack flexibility in orientation control.
Innovation Solution
A drive assembly with multiple independently orientable drive units, each with its own motor, allowing for independent wheel operation and eliminating the need for a central turning axis motor, thus reducing torque requirements and enabling smaller, more versatile designs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single drive unit with a central turning axis motor is used, then orientation control is achieved, but the torque requirements increase significantly leading to large motor size
Solution Approach 1:
The single drive unit is segmented into multiple independent drive units (first and second drive units), each with its own motor. This distributes the torque requirements across multiple smaller motors rather than requiring one large central motor, while still achieving the necessary orientation control through coordinated operation of the segmented units.
2Force
If large torque motors are used to handle increased payload, then the drive unit can carry heavier loads, but the form factor of the drive unit becomes too large
Solution Approach 1:
The drive system is divided into multiple independent drive units, each with smaller motors that collectively provide the necessary torque capacity. This segmentation allows the system to handle increased payload forces while maintaining a compact form factor, as each individual motor is smaller than a single equivalent torque motor would be.
Solution Approach 2:
Multiple drive units with smaller motors are merged into a single coordinated system that collectively delivers the required torque capacity. The combined effect of multiple smaller motors achieves the same total force output as a single large motor, but with reduced individual component sizes and overall system flexibility.
3Device complexity
If a single drive unit with fixed wheel orientation is used, then the structure is simple, but the robot lacks flexibility in movement directions
Solution Approach 1:
The drive units are made dynamically orientable relative to the robot body through unpowered couplings that allow free rotation. This dynamic capability enables the wheels to change orientation independently of the robot's main body, providing flexibility in movement directions while keeping the control structure relatively simple through passive mechanical freedom.
Data Source
AI summary
An autonomous robot drive assembly includes a plurality of drive units. The plurality of drive units may allow for movement and control of the autonomous robot drive. Each of the plurality of drive units are configured to be oriented independent of the other drive units. Each drive unit may include a plurality of independently operable driven wheels. Each drive unit may further include a drive unit coupling, allowing for the drive unit to rotate independently of other portions of the autonomous robot. The drive unit coupling may not be driven and may be configured to freely rotate.