Articulated Wheel Support Assembly for Robotic Curb Climbing
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Solution Overview
Problem
Autonomous robotic vehicles face challenges in navigating through urban environments with obstacles such as curbs and steps, as existing technologies do not effectively facilitate wheel movement over these surfaces without compromising stability or efficiency.
Innovation Solution
A support assembly for the robotic vehicle's wheel, comprising a pivotably connected first and second arm portion, with a biasing element to limit and dampen the angular range of movement, allowing the wheel to climb obstacles by adjusting its position relative to the wheel rotation axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed wheel support structure is used, then the vehicle structure is simple and stable, but the wheel cannot adjust its position to climb obstacles
Solution Approach 1:
The support assembly transitions from a fixed structure to a dynamic articulated structure with two arm portions connected by a pivot joint. The first arm portion connects to the chassis and the second arm portion supports the wheel, allowing relative movement between components to enable obstacle climbing while maintaining structural integrity
2Adaptability or versatility
If the wheel support structure allows free movement, then the wheel can easily climb obstacles, but the angular range of movement becomes uncontrolled causing instability
Solution Approach 1:
The biasing element modifies the mechanical parameters of the support assembly by providing a restoring force that limits the angular range of movement between the two arm portions. This controlled parameter change ensures the wheel can move sufficiently to climb obstacles while preventing excessive movement that would compromise vehicle stability
3Length of moving object
If the arm assembly projects forwardly relative to the attachment point, then the wheel can reach further obstacles, but the center of gravity shifts affecting vehicle balance
Solution Approach 1:
The support assembly is divided into two separate arm portions with distinct functions: the first arm portion provides structural support and connection to the chassis, while the second arm portion enables wheel movement and obstacle interaction. This segmentation allows the projection length to be optimized for obstacle reaching while the segmented structure manages the center of gravity distribution to maintain balance
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 robotic vehicle to safely and efficiently traverse obstacles by maintaining stability and control during wheel movement, ensuring smooth navigation over varying terrain without damage or loss of cargo.
Implementation Method 1
the rotation of the forearm element may be limited and/or damped by a composite spring, for example, when the robotic vehicle is climbing an obstacle
Implementation Method 2
The second arm portion, also herein referred to as a 'forearm element', is pivotably connected to the shoulder element and has the corresponding wheel mounted thereto
Data Source
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AI summary
An assembly for a wheel of a robotic vehicle and a method for overcoming an obstacle for said robotic vehicle. The assembly comprises a first arm portion and a second arm portion, the first arm portion being attachable to a chassis of the robotic vehicle at an attachment point and extending forwardly and downwardly relative to the attachment point in a direction of a movement of the robotic vehicle. The second arm portion is pivotably connected with the first arm portion at an arm pivot point and extends forwardly relative to the arm pivot point in the direction of the movement. The wheel is rotatably mounted on one end of the second arm portion opposed to the arm pivot point. A wheel rotation axis being positioned at least as high as the arm pivot point relative to a surface on which the robotic vehicle is positioned.