Robot Platform Cable Force Transfer for Stability and Obstacle Crossing
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Solution Overview
Problem
Existing robot platforms face challenges in maintaining body stability and obstacle crossing, particularly in agricultural tasks, due to weight and complexity issues with differential gears and bulky designs, and lack of adjustability in width.
Innovation Solution
A robot platform design featuring interconnected lateral frames with a body pivoting via pivoting axes, utilizing force transfer means through push-pull cables along parallel paths to stabilize the body and enhance ground contact, allowing adjustable width and improved obstacle crossing capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If differential gears are used for body stabilization, then body stability is improved, but weight and device complexity increase
Solution Approach 1:
The patent replaces the traditional differential gear mechanism with a cable-based force transfer system. The cables connect the two pivoting axes and transfer forces between them, eliminating the need for complex gear assemblies while achieving the same body stabilization effect. This substitution significantly reduces device complexity and weight.
Solution Approach 2:
The invention extracts the essential function of force transfer from the complex differential gear system and implements it through simple cables. By taking out only the necessary force transfer capability and removing the extraneous mechanical components, the system achieves body stabilization with minimal complexity.
2Adaptability or versatility
If a pivoting top component is used for obstacle crossing, then obstacle crossing capability is improved, but height and space usage increase
Solution Approach 1:
The patent implements dynamic obstacle crossing capability through the pivoting body mechanism connected by flexible cables. Instead of a fixed or bulky mechanical structure, the system uses dynamic cable tensioning to allow the body to pivot and adapt to obstacles, achieving high obstacle crossing capability without increasing height.
Solution Approach 2:
The cable connections act as flexible elements that allow the body to pivot and adapt to obstacles. The flexibility of the cable system enables the structure to conform to terrain variations without requiring rigid, space-consuming mechanical components.
3Force
If rigid force transfer means are used, then force transfer efficiency is improved, but adaptability to different platform widths is reduced
Solution Approach 1:
The patent uses flexible cables instead of rigid force transfer components. These cables can accommodate different platform widths while maintaining effective force transfer. The flexibility allows the system to adapt to various configurations without compromising the force transfer efficiency needed for body stabilization.
Solution Approach 2:
The cable-based force transfer system is dynamic and can be adjusted to different platform widths. The cables maintain tension and transfer forces effectively regardless of the specific width configuration, providing both force efficiency and adaptability.
Data Source
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AI summary
The invention provides, amongst other aspects, a robot platform, comprising: two interconnected lateral frames each extending along a main direction of the robot platform and configured for receiving, at their respective ends, motion means; a body extending between the respective frames and configured pivoting with respect to the frames via two respective pivoting axes interconnecting the body and the respective frames; wherein the robot platform further comprises a force transfer means extending along a force transfer path and configured for transferring a pivoting force of each one of the pivoting axes to the other one of the pivoting axes; and wherein the force transfer means relates to pulling along a direction parallel to said path. Thereby, the transferring of the pivoting force may relate to improved stability of the body, and/or closer contact of the motion means with the ground, and/or improved obstacle crossing capabilities.