Movable Mass Unit Control for Robot Center of Gravity Shifting
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Solution Overview
Problem
Existing robots lack efficient methods to dynamically adjust their center of gravity while moving, which affects their acceleration, collision safety, braking performance, and ability to navigate varied environments.
Innovation Solution
A robot equipped with a sensor, driver, mass unit, and center of gravity moving device, which identifies traveling parameters based on posture, state, and path situation to adjust the mass unit's position and thereby change the robot's center of gravity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses a fixed center of gravity position, then the structure is simple, but the acceleration safety and braking performance are insufficient
Solution Approach 1:
The patent implements a movable mass unit that can dynamically adjust its position along the longitudinal axis of the robot. This dynamic adjustment allows the center of gravity to be repositioned in real-time, improving acceleration safety by preventing wheel lift during rapid acceleration and enhancing braking performance by optimizing weight distribution during deceleration.
Solution Approach 2:
The system changes the positional parameter of the mass unit to adjust the center of gravity location. By controlling the mass unit's position coordinate along the longitudinal axis, the system optimizes the center of gravity position for different motion states (acceleration, braking, steady-state), thereby improving safety and performance without requiring a completely complex control architecture.
2Reliability
If the robot adjusts center of gravity dynamically, then the braking performance improves, but the device complexity increases
Solution Approach 1:
The mass unit is designed to move dynamically along the longitudinal axis, allowing the center of gravity to be repositioned during braking operations. This dynamic adjustment improves braking performance by optimizing weight distribution to increase friction force and reduce stopping distance, while the controlled movement mechanism manages the added complexity.
Solution Approach 2:
The system performs preliminary adjustment of the mass unit position in anticipation of braking maneuvers. By pre-positioning the mass unit to optimize center of gravity for upcoming braking events, the system enhances braking performance while managing complexity through predictive control rather than reactive adjustments.
3Reliability
If the robot maintains fixed mass unit position, then the control system is simple, but the collision safety is reduced
Solution Approach 1:
The system performs preliminary positioning of the mass unit in anticipation of potential collision scenarios. By pre-adjusting the center of gravity position based on sensor data and predicted motion paths, the robot optimizes its mass distribution to minimize impact forces and protect vulnerable components, thereby improving collision safety.
Solution Approach 2:
The system uses sensor feedback to continuously monitor the robot's state and environment, adjusting the mass unit position in real-time to optimize collision safety. This feedback mechanism allows the system to respond to changing conditions and maintain optimal center of gravity positioning for safety, managing the complexity through intelligent control algorithms.
4Adaptability or versatility
If the robot uses movable mass unit, then the overpassing capability improves, but the ease of operation decreases
Solution Approach 1:
The movable mass unit enables dynamic adjustment of the center of gravity to improve overpassing capability. By repositioning the mass unit forward or backward along the longitudinal axis, the system optimizes weight distribution for climbing obstacles and navigating varied terrain, enhancing adaptability while the automated control manages operational complexity.
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
This solution enhances the robot's acceleration safety, collision safety, braking performance, and overpassing capabilities, ensuring improved posture safety and traveling performance across different terrains.
Implementation Method 1
a robot may include a sensor, a driver, a mass unit, a center of gravity moving device configured to change the center of gravity of the robot by moving the mass unit
Data Source
AI summary
A robot includes a sensor, a driver, a mass unit, a center of gravity moving device configured to change the center of gravity of the robot by moving the mass unit, memory storing instructions, and at least one processor, where the instructions, when executed by the at least one processor, cause the robot to, based on data obtained through the sensor and based on the robot traveling along a traveling direction, identify a first traveling parameter at a first time point and a second traveling parameter at a second time point after the first time point, control the center of gravity moving device to move the mass unit based on at least one of the first traveling parameter and the second traveling parameter, and control the driver to move the robot along the traveling direction after the mass unit has been moved.