Spherical Robot Cylindrical Joint for Slip-Free Steering
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Solution Overview
Problem
Existing spherical rolling robots face challenges in controlling the center of mass for efficient locomotion and steering, particularly in environments with complex terrain, due to slipping issues and difficulty in controlling shell deformation.
Innovation Solution
The robot incorporates a sphere-like outer shell with an axle unit and a pendulum drive unit that forms a cylindrical joint, allowing for concurrent rotation and translation of the pendulum drive unit relative to the axle. This configuration enables the robot to tilt and drive the shell efficiently through actuators, improving control over the center of mass for both rolling and steering motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If barycentric spherical robots use pendulum-based mechanisms to move the center of mass, then the robot can achieve rolling motion, but the system is exposed to slipping between the shell and the internal drive unit
Solution Approach 1:
The patent merges the pendulum drive unit with the axle unit by defining a cylindrical joint between them, creating an integrated assembly that moves together. This combination ensures that the drive unit and shell maintain consistent positional relationships, eliminating relative slipping while preserving the center-of-mass displacement mechanism needed for rolling motion.
Solution Approach 2:
The patent implements a dynamic cylindrical joint that allows controlled translation and rotation of the pendulum drive unit relative to the axle. This dynamic mechanism enables the system to adapt its configuration during operation, maintaining optimal contact and force transmission between the drive unit and shell throughout the rolling cycle, thereby preventing slipping.
2Ease of operation
If barycentric spherical robots use sliding masses to control the center of mass location, then the robot can achieve maneuverability, but the system becomes difficult to control
Solution Approach 1:
The cylindrical joint serves multiple functions simultaneously: it enables the pendulum drive unit to translate along the axle axis to adjust center of mass position, allows rotation for orientation control, and provides a stable mechanical connection. This multi-functionality achieves complex maneuverability through a unified mechanism rather than separate control systems, simplifying overall control.
3Productivity
If spherical robots use traditional internal drive units, then the robot can achieve locomotion, but the internal space usage is not optimized and payload capacity is reduced
Solution Approach 1:
The dynamic cylindrical joint allows the pendulum drive unit to adjust its position along the axle axis during operation. This adjustability enables the system to optimize its internal configuration based on operational requirements, maximizing the use of available internal space while maintaining full locomotion capability, thereby increasing effective payload capacity.
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
The solution enhances the robot's maneuverability and control over its center of mass, allowing for efficient rolling and steering on complex terrains while minimizing slipping and improving payload capacity by optimizing internal space usage.
Implementation Method 1
the pendulum drive unit having actuators to produce torque, the actuators operatively connected to the transmission of the axle unit
Implementation Method 2
the pendulum drive unit includes lead screws receiving a drive from the actuators, the lead screws operatively connected to the transmission of the axle unit to transmit the drive to the axle unit
Implementation Method 3
the circular transmission members are pulleys, the transmission further including a pulley fixed to the axle, and a belt between the pulleys
Data Source
AI summary
A robot may have a sphere-like outer shell defining an inner cavity. An axle unit includes an axle connected at its opposed ends to the outer shell, in the inner cavity, and a transmission to transmit a torque to the axle. A pendulum drive unit is operatively connected to the axle unit and supported in the outer shell by the axle, the pendulum drive unit having actuators to produce torque, the actuators operatively connected to the transmission of the axle unit. The axle unit and the pendulum drive unit concurrently define a cylindrical joint by which the pendulum drive unit is movable in rotation and translation relative to the axle to tilt and drive the sphere-like outer shell via the actuators.