Two-Wheeled Robot Linkage Layout for Stable Obstacle Traversal
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Solution Overview
Problem
Conventional two-wheeled robots face challenges in maintaining balance while navigating obstacles of varying heights, are prone to shaking, and have limited functionality due to their design, which restricts the placement of functional modules and object transportation.
Innovation Solution
A robot design featuring a leg unit coupled to both side surfaces of the robot body with a four-bar linkage and a gravity compensator, allowing the wheels to lift and maintain balance without shifting, enabling the attachment of functional modules on both upper and lower sides and minimizing space usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is designed to perform multiple tasks (assembly, cleaning, inspection) in harsh environments, then the robot's versatility and adaptability improve, but the device complexity increases due to the need for multiple sensors and protective features
Solution Approach 1:
The robot is designed with multi-functional capabilities to perform assembly, cleaning, and inspection tasks using a unified platform. The end effector can be configured with different tools (graspers, cleaners, sensors) to execute various tasks, eliminating the need for separate specialized robots for each function.
Solution Approach 2:
The sensor unit is integrated within the end effector structure, with sensors nested inside the gripper assembly. This nesting approach allows the sensor unit to be protected within the end effector while maintaining functionality, reducing overall system complexity by combining multiple components into a unified integrated structure.
2Area of stationary object
If the robot arm is designed to reach distant locations for maintenance work, then the working range improves, but the robot arm length and structural complexity increase
Solution Approach 1:
The robot arm employs dynamic design with multiple articulated joints that allow flexible positioning and reaching of distant locations. The arm can adjust its configuration dynamically to access hard-to-reach areas without requiring excessive length, optimizing the balance between working range and structural complexity.
3Measurement precision
If the robot is equipped with multiple sensors (acceleration, angular velocity, temperature, humidity) for harsh environment operation, then the measurement precision and environmental adaptability improve, but the device complexity and cost increase
Solution Approach 1:
Multiple sensors (acceleration sensor, angular velocity sensor, temperature sensor, humidity sensor) are integrated into a single sensor unit that is mounted on the end effector. This consolidation approach allows comprehensive environmental monitoring and robot state detection while reducing system complexity compared to distributed sensor placements.
4Manufacturing precision
If the robot hand is designed with high gripping force for assembly tasks, then the manufacturing precision improves, but the ability to handle delicate components without damage decreases
Solution Approach 1:
The end effector employs dynamic force control with adjustable gripping force that can be modulated based on the specific task and component being handled. The gripping force can be precisely controlled to provide sufficient force for assembly operations while reducing force levels when handling delicate components, preventing damage.
Solution Approach 2:
The robot system can dynamically change gripping force parameters based on task requirements and component characteristics. The control system adjusts force magnitude and distribution to optimize both assembly precision and component protection, transitioning between high-force gripping for assembly and low-force handling for delicate components.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot achieves stable balance and versatility in navigating obstacles of various heights while allowing for the coupling of multiple functional modules, enhancing its ability to perform various tasks without shaking or compromising space.
Implementation Method 1
a gravity compensator configured to generate a rotational force in the link in a direction of lifting the robot body
Data Source
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AI summary
The present disclosure relates to a robot, and the robot includes a robot body in which a motor and a battery are accommodated, a leg unit coupled to each of both side surfaces of the robot body, and a wheel unit rotatably coupled to the leg unit and including a wheel rolling along a ground, wherein by arranging a side frame and the leg unit of the robot body vertically above a pair of wheels so that a load of the robot body is concentrated vertically on the wheels, it is possible to stably maintain the balance of the robot body.