Robot Effector Head Rolling and Stepping Mechanism

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Solution Overview

Problem

Existing robotic systems face challenges in efficiently moving an effector head along a pair of orthogonally opposed axes while maintaining smooth rolling and precise printing or operation, as the foot typically interferes with the rolling motion when taking steps.

Innovation Solution

A robotic apparatus comprising a motorized wheel and a foot that operates to roll along a roll axis while elevating the effector head, then takes a step along a orthogonal axis by lifting the wheel and advancing the effector head, allowing for independent movement without interference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If the foot is held away from the surface during rolling, then smooth rolling is achieved, but the foot cannot propel the robot along the step axis

Engineering Contradiction:

Improverolling speedVSAvoidstep movement capability

Core Design Contradiction:

SpeedVSEase of operation

Solution Approach 1:

The foot is designed to dynamically change its state between two modes: during rolling, the foot is retracted to allow smooth rotation of the wheel; during stepping, the foot extends to engage the surface and propel the robot. This dynamic transformation resolves the contradiction by making the foot's position adaptive to the current operational phase.

Inventive Principle:

Principle #15Dynamics

2Ease of operation

If the foot engages the surface to propel the robot, then movement along the step axis is achieved, but the wheel interferes with the stepping motion

Engineering Contradiction:

Improvestep movement capabilityVSAvoidstepping speed

Core Design Contradiction:

Ease of operationVSSpeed

Solution Approach 1:

Before the foot engages the surface for propulsion, the wheel is preliminarily lifted from the surface to eliminate interference. This preliminary action ensures that when the foot pushes against the surface, the wheel does not obstruct the motion, allowing efficient and uninterrupted stepping.

Inventive Principle:

Principle #10Preliminary action

3Ease of operation

If the effector head is elevated to step-height, then the foot can advance the effector head along the step axis, but the effector head is higher than the print height

Engineering Contradiction:

Improvestep movement capabilityVSAvoidprint height precision

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The effector head's height is dynamically adjusted based on the operational phase: during stepping, it is elevated to step-height to allow foot propulsion; during printing, it is lowered to the precise print height. This dynamic height adjustment resolves the contradiction between enabling step movement and maintaining printing precision.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS20240270001A1Precision motion

Publication Date: 2024.08.15 ZUTA LABS

AI summary

An apparatus includes a robot has an effector head and a motorized wheel coupled to the effector head. The wheel is configured to roll the effector head along a roll axis of a surface. The robot also has a foot, coupled to the effector head, that is operable to walk the effector head along a step axis that is orthogonal to the roll axis. To walk the effector head, the foot engages the surface, lifts the wheel from the surface and while the wheel remains lifted from the surface, advances the effector head along the step axis. The wheel is then returned to the surface, and the foot disengages from the surface. Other embodiments are also described.