Independent Robot Drive Units for Holonomic Motion
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Solution Overview
Problem
Conventional single drive units for autonomous robots face challenges with high torque requirements due to misalignment of wheels with the desired travel direction, leading to impractical large form factors that restrict payload capacity.
Innovation Solution
The proposed drive assembly features a plurality of independently orientable drive units, each with multiple driven wheels powered by individual motors, eliminating the need for a central turning axis motor and reducing torque requirements, allowing for a smaller and more efficient form factor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single drive unit with a central turning axis motor is used, then the robot can achieve directional control, but the torque requirements become excessively high and the form factor becomes too large
Solution Approach 1:
The single drive unit is segmented into multiple independent drive units, each with its own motor and wheels. Instead of one central motor controlling direction, multiple distributed motors independently control their respective wheels, eliminating the need for a high-torque central turning axis motor while maintaining directional control capability
Solution Approach 2:
The patent transitions from a single-axis rotation model to a multi-dimensional control model where each drive unit can independently orient and rotate. This dimensional expansion allows the system to achieve directional control through coordinated rotation of multiple units rather than through high-torque central actuation
2Weight of moving object
If the drive unit form factor is reduced to carry larger payloads, then payload capacity increases, but torque requirements may be compromised
Solution Approach 1:
By segmenting the drive system into multiple independent units with smaller individual motors, the patent reduces the torque requirement of each motor while collectively maintaining sufficient total torque for moving the payload. This segmentation allows the use of smaller, lighter components that don't compromise overall system capability
Solution Approach 2:
Multiple drive units with individually smaller torque outputs are merged into a coordinated system where their combined torque provides the necessary total force. The synergistic combination of multiple units achieves the required torque without requiring any single unit to be oversized
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.