Adjustable Roller-Wheel End Effector for Misaligned Aircraft Locking
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Solution Overview
Problem
Existing systems fail to effectively engage and safely disengage hovering aircraft in adverse conditions due to the need for precise alignment and lack of adaptability to multi-axis misalignment, and they do not allow for real-time adjustments in locking dimensions to accommodate different size receptacles.
Innovation Solution
The use of end effectors with two or more roller wheels that can be adjusted in orientation and position to change between passive and active locking configurations, allowing for real-time adjustments of locking dimensions to engage and disengage objects with different sizes and in various orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional articulated robotic grippers are used to grasp hovering vehicles, then engagement speed can be increased, but alignment precision requirements increase and error tolerance decreases
Solution Approach 1:
The gripper employs dynamically adjustable roller wheel orientations and positions that can be modified in real-time during engagement. This allows the system to adapt to moving targets and maintain effective engagement without requiring extremely precise initial alignment, thereby resolving the contradiction between engagement speed and alignment precision requirements.
Solution Approach 2:
The system changes the geometric parameters of the gripper (roller wheel orientations, positions, and capture diameter) to accommodate different engagement scenarios. By adjusting these parameters, the gripper can tolerate greater misalignment while maintaining effective engagement, thus reducing the stringency of alignment precision requirements while preserving engagement speed.
2Manufacturing precision
If grippers are designed for precise alignment, then engagement accuracy improves, but adaptability to misalignment decreases
Solution Approach 1:
The gripper's roller wheels can be dynamically repositioned and reoriented during the engagement process. This dynamic capability allows the system to first engage with approximate alignment and then adjust to achieve precise locking, thereby maintaining both engagement accuracy and adaptability to initial misalignment.
Solution Approach 2:
The gripper is designed with multi-functional capabilities to handle various engagement scenarios ranging from well-aligned to significantly misaligned targets. The adjustable roller wheel configuration enables the same gripper to effectively engage targets with different alignment qualities, thus achieving both precision and versatility.
3Device complexity
If fixed locking dimensions are used, then device complexity is reduced, but adaptability to different size receptacles decreases
Solution Approach 1:
The gripper incorporates adjustable roller wheel positions and orientations that can be configured for different receptacle sizes. This dynamic adjustability allows a single gripper design to accommodate multiple receptacle dimensions without requiring multiple fixed-size grippers, thereby maintaining structural simplicity while achieving versatility.
Solution Approach 2:
The system modifies the geometric parameters of the locking mechanism (roller wheel spacing, orientation angles, and capture diameter) to match different receptacle sizes. By changing these parameters, the gripper can effectively engage various sized receptacles without increasing fundamental device complexity.
4Adaptability or versatility
If real-time adjustment of locking dimensions is implemented, then adaptability to different receptacles improves, but device complexity increases
Solution Approach 1:
The gripper is divided into modular components (individual roller wheels with independent adjustment mechanisms) that can be configured separately. This segmentation allows for real-time adjustment of locking dimensions through relatively simple individual component movements rather than complex overall reconfiguration, thus improving adaptability while controlling device complexity.
Data Source
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AI summary
An apparatus may include: a support base; and two or more roller wheels, each adjustable in orientation, position, or orientation and position, mounted on the support base and configured to engage with an object in a passive locking configuration. The apparatus may be further configured to disengage from the object in the passive locking configuration. The apparatus may be further configured to lock the object to the apparatus in an active locking configuration. Orientations, positions, or the orientations and positions of the at least two of the two or more roller wheels may be adjustable.