Sprawl and Four-Bar Extension Mechanism for Robot Maneuverability
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Solution Overview
Problem
Current miniature crawling robots face limitations in locomotion and maneuverability, particularly in navigating diverse terrains and overcoming obstacles, due to challenges in implementing controlled active leg joints and reconfigurable kinematics.
Innovation Solution
A robot design incorporating a combined sprawl mechanism and Four-Bar Extension Mechanism (FBEM) that allows for tilting and extending the legs, enabling the robot to change its dynamics between lateral and sagittal planes, climb vertically, and adapt to various terrains by adjusting its width and height, and moving its center of mass.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If passive mechanical elements such as springy legs and damping systems are used to achieve high speed crawling, then locomotion speed is improved, but the robot lacks maneuverability and ability to overcome obstacles
Solution Approach 1:
The patent implements a variable sprawl angle mechanism that allows the robot to dynamically adjust its leg configuration between different planes. The sprawl angle can be actively changed to transform dynamics between lateral and sagittal planes, enabling the robot to adapt its locomotion mode based on terrain requirements, thus resolving the contradiction between high-speed crawling and maneuverability
Solution Approach 2:
The robot is designed with reconfigurable kinematics that enable it to perform multiple functions: high-speed crawling on flat terrain, obstacle crossing, and vertical climbing. The combined sprawl mechanism and FBEM allow a single platform to execute diverse locomotion tasks, making the system universally adaptable to different environmental challenges
2Adaptability or versatility
If reconfigurable kinematics mechanisms are implemented to overcome obstacles, then adaptability is improved, but device complexity increases due to multiple mechanisms required
Solution Approach 1:
The patent combines the sprawl mechanism and Four-Bar Extension Mechanism (FBEM) into an integrated leg structure. The FBEM is incorporated within the existing sprawl mechanism framework, allowing both functions to work together through coordinated actuation. This merging reduces the number of separate mechanisms needed while maintaining reconfigurable capabilities for obstacle overcoming
Solution Approach 2:
The leg mechanism is segmented into distinct functional components: the sprawl mechanism for lateral/sagittal plane transformation and the FBEM for extension/retraction. This segmentation allows independent optimization and control of each function while reducing overall system complexity through modular design
3Adaptability or versatility
If controlled active leg joints are implemented to achieve maneuverability, then adaptability is improved, but ease of manufacture deteriorates due to inherent difficulty
Solution Approach 1:
The patent employs passive mechanical elements such as springy legs and damping systems that automatically provide compliance and stability without requiring active control. This self-service approach reduces the need for complex active leg joints while maintaining maneuverability through passive adaptation to terrain, thereby improving ease of manufacture
Data Source
AI summary
A robot device comprising a main body portion and two elongated legs, wherein: a) each of said legs is connected to said main body portion by a four-bar extension mechanism; and b) each one of said legs is rotatable around a corresponding axis positioned along the distal-proximal direction.