Robotic Coupling Assembly for Uneven Surface Stability
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Solution Overview
Problem
Robotic systems face challenges in maintaining balance and stability when experiencing varying forces and moments, particularly due to changes in the position of the center of mass and external loads, which can lead to instability on uneven surfaces.
Innovation Solution
A robotic system with a lower body comprising a front section and a rear section joined via a coupling assembly that allows relative rotation about an axis, utilizing tapered roller bearings to facilitate wheel position adjustment and maintain contact with the surface, providing greater stability and rigidity by restricting rotation about other axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the lower body uses a fixed rigid coupling between front and rear sections, then structural stability is maintained, but the ability to adapt to uneven surfaces and changing forces is reduced
Solution Approach 1:
The coupling assembly incorporates a spindle that can rotate relative to the housing, allowing the front and rear sections to dynamically adjust their relative orientation. This dynamic capability enables the lower body to adapt to uneven surfaces and changing force conditions while maintaining structural integrity through the rigid coupling components.
2Adaptability or versatility
If the lower body allows free rotation between sections, then adaptability to uneven surfaces improves, but structural rigidity and stability deteriorate
Solution Approach 1:
The spindle-housing coupling provides controlled rotation capability, allowing the sections to adapt to surface variations while the rigid coupling components maintain structural strength. The rotation is not free but constrained by the mechanical coupling, achieving a balance between adaptability and rigidity.
Solution Approach 2:
The lower body is divided into front and rear sections that can rotate relative to each other via the coupling assembly. This segmentation allows each section to independently respond to local conditions while remaining part of a unified structure, maintaining both adaptability and overall structural integrity.
3Ease of manufacture
If the coupling assembly uses simple rigid connections, then manufacturing complexity is reduced, but the ability to maintain wheel contact with uneven surfaces is compromised
Solution Approach 1:
The coupling assembly uses a relatively simple rigid connection structure comprising a housing, spindle, and bearing device, while incorporating rotational freedom to allow the wheel assembly to adapt to uneven surfaces. This maintains reliable wheel contact without requiring complex active control mechanisms.
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
The solution effectively enhances the robotic system's ability to respond to changes in forces and moments, maintaining balance and stability on uneven surfaces by allowing wheel position adjustments, thereby improving overall operational stability and balance.
Implementation Method 1
a bearing device disposed in the interior chamber of the housing and between the housing and the spindle. The bearing device allows the spindle to rotate inside the interior chamber and relative to the housing
Data Source
AI summary
A robotic body includes a first section and a second section. The first section includes a first wheel, and the second section includes a second wheel. A coupling assembly couples the first section and the second section. The coupled first section and second section are movable together via operation of the wheels. The coupling assembly includes a housing defining an interior chamber, a spindle disposed in the interior chamber of the housing, and a bearing device disposed in the interior chamber and between the housing and the spindle. The bearing device allows the spindle to rotate inside the interior chamber and relative to the housing. The first section is coupled to the housing and the second section is coupled to the spindle. The first section rotates relative to the second section according to a rotation between the spindle and the housing.