Smart Kickstand for Mobile Robotic Arm Balance
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Solution Overview
Problem
Robotic arms attached to mobile bases can become unstable and tip over due to static or dynamic arm poses and payloads, leading to potential balance issues and instability.
Innovation Solution
An adjustable support member is deployed from the mobile base, controlled by a processor that receives data from joint angle sensors and inertial measurement units to extend and orient in a way that counteracts torque and provides additional stability, using telescoping, rotational, and omni-directional components to maintain balance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic arm is extended to reach payloads or perform tasks, then the working range and versatility are improved, but the torque about the mobile base increases causing instability and tipping
Solution Approach 1:
The kickstand acts as a counterweight mechanism by extending a support member to the ground, creating an opposing torque that balances the torque generated by the extended robotic arm. This prevents the mobile base from tipping while allowing the arm to reach extended positions.
Solution Approach 2:
The kickstand is dynamically deployed and retracted based on real-time torque calculations. The controller continuously monitors arm position and adjusts the kickstand extension accordingly, making the stabilization system adaptive to changing operational conditions rather than statically fixed.
2Duration of action of moving object
If the robotic arm holds static poses for extended periods, then task completion is improved, but the mobile base becomes unbalanced and tips over
Solution Approach 1:
The kickstand provides continuous counterbalancing support during static arm poses by maintaining a constant opposing torque. This allows the robotic arm to hold positions for extended periods without causing the mobile base to tip, enabling longer task durations.
Solution Approach 2:
The controller continuously monitors arm position and torque, and adjusts the kickstand extension in real-time to maintain balance during static poses. This feedback loop ensures stability is actively maintained rather than passively assumed.
3Weight of moving object
If the mobile base is made lighter to improve mobility, then ease of movement is improved, but the base becomes more susceptible to tipping under the same torque conditions
Solution Approach 1:
The kickstand compensates for the reduced base weight by providing an external counterbalancing force. This allows the mobile base to remain lightweight for easy mobility while the kickstand makes up for the reduced inherent stability when needed.
Solution Approach 2:
The kickstand acts as an intermediary stabilization element between the robotic arm and the mobile base. It transfers and balances the torque loads, allowing the base to remain lightweight while still maintaining stability through the intermediate support structure.
4Stability of the object's composition
If the kickstand is continuously extended to prevent tipping, then stability is improved, but energy consumption increases and the device complexity increases
Solution Approach 1:
The kickstand is dynamically adjusted based on real-time torque requirements rather than being continuously extended. The controller calculates when kickstand deployment is necessary and adjusts extension length proportionally to the torque being counteracted, minimizing energy consumption while maintaining stability.
Solution Approach 2:
The kickstand is deployed only partially or only when necessary to counteract the specific torque condition, rather than being fully extended continuously. This partial action approach reduces energy consumption while providing sufficient stabilization for the actual operational needs.
5Stability of the object's composition
If the kickstand structure is made more robust to handle higher torques, then stability is improved, but the device complexity and manufacturing difficulty increase
Solution Approach 1:
The kickstand uses adjustable extension length to handle varying torque requirements rather than requiring a constantly robust structure. By dynamically extending further for higher torque conditions, the same structure can handle variable loads without needing to be over-engineered for maximum torque scenarios.
Solution Approach 2:
The system changes the operational parameters of the kickstand (extension length, deployment timing) rather than changing the physical structure to handle higher torques. This allows the same kickstand structure to adapt to different torque requirements through parameter adjustment rather than structural modification.
Data Source
AI summary
An example system includes a robotic arm coupled to a mobile base. The robotic arm includes a plurality of segments coupled via at least one joint, which includes at least one joint angle sensor. The system also includes a controller configured to carry out operations including receiving, from the at least one joint angle sensor, information indicative of a pose of the robotic arm. The operations include, based on the information indicative of the pose of the robotic arm, determining that a torque induced by the robotic arm is above a predetermined torque threshold. The operations also include causing an adjustable support member to extend out of the mobile base in an orientation that counteracts the torque.