Robotic Two-Wheeled Vehicle Tether Maneuvering
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Solution Overview
Problem
Robotic two-wheeled vehicles face challenges in accessing and exploring terrains with extreme topographies, such as craters and canyons, due to limitations in maneuverability and the ability to operate on steep slopes without a surface to rest on.
Innovation Solution
The design incorporates a connection body with a first drum and a second drum, along with a tether system that allows the vehicle to be tethered and move like a yo-yo, using actuators to control the wheels and drums independently for high maneuverability and the ability to operate on steep slopes by wrapping and unwinding the tether around the second drum.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the vehicle uses a traditional single-wheel or multi-wheel configuration, then it can maintain simple structure, but it cannot achieve high maneuverability on steep slopes without a surface to rest on
Solution Approach 1:
The vehicle is segmented into two independent drive wheels and a separate tether-winding drum system. The drums are coaxially located inside the connection body, with the second drum inside the first drum, allowing independent rotation for tether management while the wheels handle propulsion. This segmentation enables the tether to be wound or unwound independently of wheel motion, providing maneuverability on steep slopes without compromising structural simplicity.
Solution Approach 2:
The patent implements a nested drum configuration where the second drum is coaxially located inside the first drum. Both drums share the same central axis and are housed within the connection body. This nested arrangement allows the tether to be wound on the second drum while the first drum can rotate independently, enabling compact tether storage and retrieval without increasing overall vehicle volume or complexity.
2Reliability
If the vehicle uses independent actuators for each wheel and drum, then it can achieve high maneuverability and redundancy, but it increases device complexity and control difficulty
Solution Approach 1:
The vehicle employs four independent actuators: a first actuator for the first wheel, a second actuator for the second wheel, a third actuator for the first drum, and a fourth actuator for the second drum. Each actuator is controlled independently, providing functional redundancy and flexibility. If one actuator fails, the others can compensate to maintain basic operations, enhancing reliability without requiring an overly complex control system.
Solution Approach 2:
The actuators are designed with multi-functionality to reduce overall system complexity. The first and second actuators can serve both as drive mechanisms for wheel rotation and, in combination with the drum actuators, as part of the tether management system. The third and fourth actuators control both drum rotation for tether winding and can assist in vehicle stabilization. This universal design allows a single actuator system to perform multiple functions, reducing the need for additional specialized components.
3Adaptability or versatility
If the vehicle uses a tether system wound around drums, then it can operate on extreme terrains like craters and canyons, but it requires complex drum and tether mechanisms
Solution Approach 1:
The nested drum configuration allows the tether to be wound on the second drum while the first drum rotates independently. This arrangement enables the tether management system to be compact and integrated within the connection body, reducing the space required for extreme terrain operations without compromising the ability to access craters, canyons, and other challenging topographies.
Solution Approach 2:
The drum system is designed to be dynamically controllable, with the ability to wind or unwind the tether independently of wheel motion. The first and second drums can rotate in coordinated or independent manners depending on the operational requirements, allowing the vehicle to adapt to varying terrain conditions. This dynamic control enables the vehicle to maintain stability on steep slopes while accessing extreme topographies without requiring an overly complex fixed mechanism.
4Ease of operation
If the wheels and drums are controlled independently, then it allows for high maneuverability and independent tether management, but it increases control difficulty and coordination complexity
Solution Approach 1:
The control system is segmented into four independent control channels, one for each actuator. This segmentation allows each wheel and drum to be controlled independently without requiring complex coordinated control algorithms. The first actuator controls the first wheel, the second actuator controls the second wheel, the third actuator controls the first drum, and the fourth actuator controls the second drum. This modular control architecture simplifies the overall control system while maintaining high maneuverability and independent tether management capabilities.
Solution Approach 2:
The control system is designed with universal control capabilities that can manage multiple functions through a unified interface. The same control architecture that manages wheel rotation for propulsion also manages drum rotation for tether winding, reducing the need for separate specialized control systems. This universal control approach simplifies the coordination between wheels and drums while maintaining independent control capabilities for high maneuverability.
Data Source
AI summary
A robotic two-wheeled vehicle comprising a connection body interposed between the two wheels are described. A drum can be coaxially located in a central region of the connection body and can support a hollow arm projecting radially from the drum. A tether can be inserted in the arm and connected to a second drum. Instruments and sensors can be accommodated in a case housed inside each wheel.