Adjustable Roller-Wheel End Effector for Misalignment-Tolerant Locking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing systems for engaging or mating with hovering aircraft or other target objects face challenges such as precise alignment requirements, limited error tolerance, and inability to adapt to different size mating receptacles, especially in adverse and unpredictable conditions.
Innovation Solution
The use of end effectors with two or more roller wheels that are adjustable in orientation and position, allowing for real-time adjustments of locking dimensions to engage and disengage objects in a passive or active locking configuration.
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 movable roller wheels that can dynamically adjust their position and orientation during engagement. The roller wheels are mounted on adjustable mechanisms that allow real-time repositioning to accommodate misaligned targets, transforming a static precision-dependent system into a dynamic adaptation-capable system
Solution Approach 2:
The system changes the geometric parameters of the engagement interface by allowing the roller wheels to adjust their spacing and orientation. This enables the gripper to accommodate various target sizes and alignment conditions by modifying the effective engagement parameters rather than requiring precise initial alignment
2Measurement precision
If high-speed vision systems and precise three-dimensional localization are implemented, then alignment precision improves, but device complexity and maintenance difficulty increase
Solution Approach 1:
The invention replaces complex vision systems and electronic localization equipment with a purely mechanical solution. The adjustable roller wheel mechanism provides alignment tolerance through mechanical adaptability rather than through complex sensing and computational systems, significantly reducing device complexity and maintenance requirements
3Ease of manufacture
If fixed locking dimension grippers are used, then manufacturing simplicity is maintained, but adaptability to different target sizes decreases
Solution Approach 1:
The roller wheels are mounted on adjustable mechanisms that allow real-time repositioning and reconfiguration. This dynamic capability enables the same gripper to adapt to different target sizes and engagement requirements without requiring multiple fixed-configuratio
Solution Approach 2:
The adjustable roller wheel mechanism provides multi-functionality, allowing the gripper to engage with various target sizes, shapes, and alignment conditions using a single device. The system achieves universality through the ability to reconfigure the roller wheel positions and orientations to match different engagement requirements
Data Source
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.