Mobile Robot Tracked Chassis With Articulated Arm
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Solution Overview
Problem
Existing robotic mobile platforms face challenges in miniaturization and efficiently surmounting obstacles, particularly in hazardous or hostile environments, where they need to navigate complex terrains and overcome obstacles like stairs or risers effectively.
Innovation Solution
A mobile robot design featuring a driven support surface and a first articulated arm that rotates to raise the rearward end while propelling the robot forward, allowing it to ascend obstacles, and then pivots to invert the robot for further clearance, combined with a controller that executes a series of operations to manage obstacle surmounting maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a tracked mobile platform with articulated arms for obstacle surmounting, then the robot's ability to navigate complex terrains and surmount obstacles is improved, but the device complexity increases
Solution Approach 1:
The articulated arm serves multiple functions: it acts as a propulsion mechanism during obstacle surmounting, provides stability support, and enables the robot to navigate varied terrains. This multi-functionality reduces the need for separate dedicated components for each function, thereby managing complexity while enhancing adaptability
Solution Approach 2:
The articulated arm is designed with dynamic positioning capability, allowing it to rotate and adjust its position based on the obstacle height and terrain conditions. This dynamic adaptation enables the robot to handle various obstacle types without requiring multiple fixed-configuration mechanisms
2Volume of moving object
If the robot chassis is miniaturized for portability and deployment in tight spaces, then the robot's portability and compactness are improved, but the robot's ability to generate sufficient force for obstacle surmounting deteriorates
Solution Approach 1:
The articulated arm is positioned and controlled to create a counterbalancing effect that leverages the robot's weight against the obstacle. By strategically positioning the arm's pivot point rearward of the center of gravity, the system uses the robot's own mass to generate the necessary lifting force, reducing the need for additional high-force actuators that would increase size
Solution Approach 2:
The tracked support surface provides continuous contact and distributed force application against the obstacle, allowing the miniaturized robot to gradually work its way up the obstacle rather than requiring a single high-force impulse that would demand larger actuators
3Adaptability or versatility
If the articulated arm rotates to raise the rearward end of the chassis during obstacle ascent, then the robot's ability to ascend obstacles is improved, but the stability of the robot chassis deteriorates
Solution Approach 1:
The articulated arm is positioned in advance with its pivot point rearward of the center of gravity, pre-configured to provide stabilizing leverage during the obstacle surmounting sequence. This preliminary positioning ensures that as the arm rotates to lift the rearward end, it creates a counterbalancing moment that maintains chassis stability throughout the ascent motion
4Stability of the object's composition
If the robot operates asynchronously with arm pivoting and support surface propulsion, then the robot's ability to maintain stability during maneuvers is improved, but the control complexity increases
Solution Approach 1:
The control system employs periodic, phased activation of the articulated arm and tracked support surface rather than continuous simultaneous operation. The arm pivoting and track propulsion are coordinated in distinct phases, with each component activated at optimal moments in the obstacle surmounting sequence, maintaining stability while using programmable temporal coordination rather than complex real-time control
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
Enables the robot to efficiently navigate and surmount obstacles, including stairs, with enhanced portability and compactness, allowing it to be deployed in tight spaces and hazardous environments, while maintaining stability and control through asynchronous arm and support surface operations.
Implementation Method 1
a driven support surface connected to the chassis and configured to propel the robot chassis forward and rearward
Implementation Method 2
A first articulated arm is rotatable about an axis located rearward of the center of gravity of the robot chassis
Implementation Method 3
pivoting the arm to further raise the rearward end of the robot such that the forward end of the robot tips downward beyond the top of the riser
Data Source
Figure 1~2A
Figure 2B~2C
Figure 2D
AI summary
A mobile robot (2) includes a robot chassis (6) having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface (12) to propel the robot (2) and first articulated arm (14) rotatable about an axis (16) located rearward of the center of gravity of the robot chassis. The arm (14) is pivotable to trail the robot (2), rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface (12) propels the chassis (6) forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot (2) endwise.