Robotic Vehicle Drive Layout With Ball Casters for Tip Stability
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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 disrupt their functionality in various environments.
Innovation Solution
A stabilizing drive system incorporating ball casters positioned at the corners of the robot base, in addition to the drive wheels, to lower the center of gravity and enhance stability, allowing the robot to navigate over obstacles without tipping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If the robot is made tall to see at greater distance and sense obstacles, then the sensing capability is improved, but the robot becomes prone to tipping over
Solution Approach 1:
The patent applies counterweight by positioning heavy components (battery, electronics) in the lower portion of the robot body, creating a weight distribution that lowers the center of gravity. This counterbalances the high center of gravity inherent in tall robot designs, enabling the robot to maintain stability and tilt up to 45 degrees without tipping over, thus resolving the contradiction between improved sensing capability and reduced stability
2Stability of the object's composition
If the center of gravity is lowered to prevent tipping, then the stability is improved, but the robot height is reduced
Solution Approach 1:
The patent segments the robot body into distinct upper and lower portions with different functions. The lower portion houses heavy components (battery, electronics) to lower the center of gravity and improve stability, while the upper portion contains the sensor array for sensing capabilities. This segmentation allows the robot to maintain both stability and adequate height by distributing components strategically throughout the vertical space
3Stability of the object's composition
If ball casters are added to stabilize the robot, then the stability is improved, but the device complexity increases
Solution Approach 1:
The patent merges the stabilizing function into the existing drive wheel assembly by integrating ball casters with the drive wheels. The ball casters are positioned at the corners of the robot base and work in conjunction with the drive wheels to provide stability during movement and static operation. This integration approach provides enhanced stability while minimizing additional complexity by combining multiple functions into a unified system
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.