Segmented Wheel Hub Stabilization via Dynamic Actuation
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Solution Overview
Problem
Existing vehicle wheel systems struggle to maintain a smooth ride over rough terrain, as they are often energy inefficient, noisy, and limited in speed and load-bearing capabilities, particularly for robotic vehicles.
Innovation Solution
A computer-controlled segmented wheel system with radial segments and a locking mechanism, where each segment is adjustable in length using linear actuators, and a distance sensor helps maintain the hub at a consistent height by adjusting segment lengths based on terrain data, preventing non-rotational motion from affecting the vehicle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If traditional suspension assemblies with springs and shock absorbers are used to absorb wheel motion forces, then some force absorption is achieved, but the system is energy inefficient and cannot provide proactive adjustment
Solution Approach 1:
The wheel system dynamically adjusts the length of radial segments using linear actuators based on real-time terrain data from distance sensors. This proactive dynamic adjustment allows the wheel to maintain optimal contact with uneven surfaces without relying on passive spring/damper systems, significantly improving energy efficiency while maintaining ride stability.
Solution Approach 2:
The system incorporates distance sensors that continuously measure terrain height ahead of the wheel and feed this information to the control system. The control system processes this feedback and adjusts radial segment lengths accordingly, enabling proactive compensation for terrain variations before they affect vehicle stability, thereby improving both energy efficiency and reliability.
2Object-affected harmful factors
If spring/damper suspension systems are used to absorb terrain forces, then some vibration damping is achieved, but the systems are large and generate noise
Solution Approach 1:
The wheel is divided into multiple independent radial segments that can adjust their lengths individually. This segmentation allows localized vibration absorption at the wheel-terrain interface without requiring large centralized suspension components, reducing overall system size while maintaining effective vibration damping.
Solution Approach 2:
The patent replaces traditional mechanical spring/damper suspension systems with an electronically controlled system using linear actuators and distance sensors. This substitution eliminates the need for large mechanical suspension components while providing effective vibration damping through active control, thereby reducing system complexity and noise generation.
3Adaptability or versatility
If reciprocating leg mechanisms are used for terrain traversal, then mobility over rough terrain is improved, but speed and load bearing capabilities are limited
Solution Approach 1:
The radial segments dynamically adjust their lengths in real-time based on terrain conditions, allowing the wheel to maintain optimal geometry for both speed and load-bearing. This dynamic adaptation enables the wheel to traverse rough terrain effectively while maintaining higher speeds compared to reciprocating leg mechanisms, as the continuous rotation is preserved without mechanical leg extension/retraction cycles.
4Ease of operation
If the entire wheel rises or falls with terrain profile, then wheel contact is maintained, but non-rotational motion is transferred to the vehicle frame
Solution Approach 1:
By segmenting the wheel into independently adjustable radial segments, the system can maintain terrain contact through local segment adjustments rather than requiring the entire wheel to rise or fall. This localized adaptation prevents non-rotational motion from being transferred to the vehicle frame, as each segment independently compensates for terrain variations.
Solution Approach 2:
The radial segments dynamically adjust their lengths in response to terrain variations detected by distance sensors. This dynamic adjustment maintains continuous ground contact while keeping the wheel hub stationary relative to the vehicle frame, preventing force transfer to the vehicle through non-rotational wheel motion.
Data Source
AI summary
An adaptable wheel has a central hub, radial segments connected to the central hub at a proximal end and extending radially from the central hub, each radial segment having a linear actuator configured to change a length of the radial segment; a shoe connected to a distal end of the radial segment for contacting a surface being traversed by the wheel; and a locking mechanism for selectively preventing linear motion of the linear actuator. A control system for an adaptable wheel includes a distance sensor on a vehicle for determining distance to a surface in the path of the vehicle and a computer for receiving distance information from the distance sensor and, responsive to the distance information, determine a desired length of a segment of an adaptable wheel for maintaining a hub of a wheel level, and provide control signals to a linear actuator of the segment.