Spring-Balanced Kinematic Suspension for Precise Load Positioning
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Solution Overview
Problem
Existing kinematic systems for spacecraft and rover applications face challenges in providing improved suspension properties and movement capabilities, particularly in terms of rigidity, payload capacity, accuracy, and adaptability, while also addressing complexities in control and thermal management.
Innovation Solution
A kinematic device with a base and top element, incorporating a spring component and force transmission element, which maintains a balanced tension force along a motion axis, allowing for flexible and accurate positioning and orientation of a load, while integrating actuators and avionics in the base for centralized thermal control and protection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If parallel kinematic machines are used to increase rigidity and payload capacity, then structural strength is improved, but device complexity increases due to additional singularities and complex mathematical analysis
Solution Approach 1:
The system divides the hexapod structure into multiple independent kinematic devices, each with its own spring component and force transmission element. This segmentation allows complex parallel kinematics to be managed through simpler modular units, reducing overall control complexity while maintaining structural rigidity.
Solution Approach 2:
The patent introduces spring components that change the mechanical parameters of the system by providing compliant elements. This transforms the rigid parallel kinematic structure into a hybrid system with controlled compliance, simplifying the mathematical modeling and control while maintaining strength through the force transmission elements.
2Speed
If actuators are placed in the base to make limbs lightweight, then speed is improved, but device complexity increases due to centralized drive train integration
Solution Approach 1:
The patent merges the actuator, spring component, and force transmission element into an integrated kinematic device assembly. This combining approach simplifies the overall mechanical complexity by reducing the number of separate components and interfaces, while still achieving fast acceleration through base-mounted actuators and lightweight limbs.
3Adaptability or versatility
If continuum manipulators are used to enter confined spaces, then adaptability is improved, but measurement precision decreases due to reduced load-carrying capacity and accuracy
Solution Approach 1:
The patent employs spring components that provide dynamic compliance to the kinematic devices. This allows the system to adapt its stiffness characteristics based on operational requirements - being compliant when entering confined spaces and rigid when positioning loads, thereby achieving both deformability and positioning accuracy.
Solution Approach 2:
By using spring components with adjustable parameters, the system can change its mechanical properties to match task requirements. The spring stiffness and force transmission characteristics can be tuned to provide high adaptability for confined space entry while maintaining sufficient load-carrying capacity and positioning accuracy for precision operations.
4Object-generated harmful factors
If rigid bars are replaced with flexible elements to achieve fast passive adaptability, then collision forces are reduced, but structural strength decreases
Solution Approach 1:
The patent applies flexible spring components locally at specific joints and connection points of the kinematic devices, rather than making the entire structure flexible. This localized flexibility reduces collision forces at critical interfaces while maintaining overall structural strength through the force transmission elements and rigid support structures.
Solution Approach 2:
The system combines rigid structural elements with flexible spring components to create a composite mechanical system. The rigid parts provide necessary structural strength and load-bearing capacity, while the flexible spring elements provide compliance to reduce collision forces, achieving both requirements simultaneously.
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 device offers increased acceleration, positioning accuracy, and thermal management, with inherent flexibility and adaptability, reducing collision forces and simplifying control algorithms, suitable for space robotics and planetary exploration.
Implementation Method 1
a spring component (105) having a base end (106) attached to the base mounting unit (102) and/or a top end (107) attached to the top mounting unit (104). The spring component (105) can be configured to provide a spring tension force between the base end (106) and the top end (107), in particular parallel to a motion axis (108).
Data Source
Figure 1
Figure 2
Figure 3A~3C
AI summary
A kinematic device designed for suspending a load consists of a base element with a base mounting unit, and a top element with a top mounting unit. Connecting these elements is a spring component, which attaches at its base end to the base mounting unit and at its top end to the top mounting unit. The spring generates tension along a motion axis parallel to the base and top elements. Additionally, the device includes a force application component comprising a tensioning element and a force transmission element. The force transmission element connects to the top element and applies a tensile force in the opposite direction to the spring tension force. Also disclosed is a system comprising a plurality of kinematic devices that allows precise control of a top plate's position relative to a base plate.