Robotic Arm Under-Constrained Control for Vehicle Fueling
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Solution Overview
Problem
Current vehicle fueling and charging processes require manual intervention, leading to safety hazards, inefficiencies, and potential damage due to loss of connectivity, spillage, and incorrect equipment selection, as well as the need for human familiarity with both vehicles and replenishment equipment.
Innovation Solution
A robotic system equipped with a flexible conduit and a robotic arm with articulated links and operating cables, controlled by a sophisticated control system that can engage and disconnect from vehicle connectors, select appropriate connection configurations, detect movement and connection failures, and manage ancillary fluid delivery, ensuring safe and efficient fueling or charging operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual fueling or charging process is used, then human intervention and familiarity are required, but safety hazards and operational errors increase
Solution Approach 1:
The robotic system performs fueling or charging operations autonomously without human intervention. The robot navigates to the vehicle, identifies the connector type, establishes connection, and manages the replenishment process independently, eliminating safety hazards associated with manual operations while maintaining ease of use through automated self-service functionality
Solution Approach 2:
The patent replaces manual mechanical operations with an automated robotic system equipped with sensors, actuators, and control algorithms. The robotic arm with flexible conduit substitutes human hands and operations, using mechanical automation to perform connector engagement, fluid delivery, and disconnection tasks with enhanced precision and safety
2Manufacturing precision
If robotic arm is constrained rigidly for precise connection, then connection accuracy improves, but tolerance to vehicle movement decreases
Solution Approach 1:
The robotic arm transitions from a rigid constrained state during positioning to a relaxed under-constrained state during connection maintenance. The control system dynamically adjusts the arm's stiffness and constraint level based on operational phase, enabling precise initial alignment followed by flexible accommodation of vehicle movement throughout the fueling or charging process
Solution Approach 2:
The patent changes the mechanical parameters of the robotic arm by transitioning between constrained and under-constrained conditions. The control system modifies the arm's degrees of freedom and structural stiffness dynamically, allowing the system to achieve both high connection accuracy initially and subsequent tolerance to relative motion through parameter adjustment
3Adaptability or versatility
If multiple connection configurations are provided, then adaptability to different vehicles improves, but device complexity increases
Solution Approach 1:
The robotic system incorporates a universal connector platform capable of adapting to multiple vehicle connector types through reconfigurable connection configurations. Rather than requiring separate specialized connectors for each vehicle type, the system uses a single multi-functional connector assembly that can be adjusted or reconfigured to interface with different vehicle standards, reducing overall system complexity while maintaining broad compatibility
Data Source
AI summary
A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition.