Mobile Robot Wheel Layout for Stable Vertical Obstacle Climbing
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Solution Overview
Problem
Existing mobile robots lack the capability to autonomously traverse vertical obstacles such as curbstones and uneven terrain without significant tilting or vibration, which can affect stability and traction.
Innovation Solution
A mobile robot design featuring a frame structure with front, middle, and back wheels, where the middle wheels can be driven vertically by a motor-driven device to apply downward or upward forces, assisted by tilting levers and sensors for obstacle detection and traversal, ensuring stable climbing and traction on vertical obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a mobile robot uses conventional wheel configurations to traverse vertical obstacles, then it can navigate the obstacle, but it experiences significant tilting and vibration that affect stability and traction
Solution Approach 1:
The robot is divided into functionally independent wheel assemblies: front wheels for obstacle engagement, middle wheels for vertical force application, and back wheels for propulsion. This segmentation allows each wheel group to perform its specific function without interfering with others, reducing tilting and vibration while maintaining stability during obstacle traversal
Solution Approach 2:
The robot employs dynamically adjustable wheel positions where the middle wheels can move vertically relative to the frame to apply downward or upward forces as needed. This dynamic adjustment allows the robot to maintain optimal contact with the obstacle surface and ground, minimizing unwanted tilting and vibration while traversing vertical obstacles
2Force
If the robot applies downward force on middle wheels to increase traction, then traction improves, but component wear increases
Solution Approach 1:
The motor-driven device that applies downward force on the middle wheels operates periodically rather than continuously, activating only when obstacle detection sensors identify a vertical obstacle that requires additional traction. This periodic operation provides necessary traction force while minimizing unnecessary component wear during normal traversal on flat surfaces
3Adaptability or versatility
If the robot uses a complex mechanism with multiple wheels and motor-driven devices to traverse obstacles, then obstacle traversal capability improves, but device complexity increases
Solution Approach 1:
The middle wheels serve multiple functions: they apply downward force to increase traction on obstacles, provide upward force to reduce wear during normal operation, and contribute to overall robot stability. This multi-functionality reduces the need for separate specialized components, thereby managing device complexity while maintaining versatile obstacle traversal capability
Data Source
AI summary
A mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.