Stowable Payload Carrier for Robotic Manipulation
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Solution Overview
Problem
Special-purpose robots and unmanned vehicles with limited or restricted manipulator arm motion capabilities struggle to handle payloads that are not within their reach, particularly hazardous devices and those requiring packaging.
Innovation Solution
A stowable payload carrier system with an adjustable payload holder assembly and actuation device that allows the payload holder to rotate, extend, and retract, enabling access by a manipulator arm, accommodating various payload sizes and shapes, and incorporating proximity sensors for automatic operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If special-purpose robots use manipulator arms with limited motion capabilities, then the device complexity is reduced, but the ability to handle payloads outside reach is worsened
Solution Approach 1:
The payload carrier is mounted on the robot body rather than the manipulator arm, utilizing the robot's body-mounted actuators to provide additional degrees of freedom. This dimensional relocation allows the payload to be positioned in three-dimensional space independent of the manipulator arm's limited reach, effectively extending the robot's operational envelope without complicating the manipulator structure.
Solution Approach 2:
The system separates the payload positioning function from the manipulator arm by creating an independent payload carrier subsystem. This carrier is divided into multiple sections that can be independently actuated, allowing the payload to be positioned and oriented separately from the manipulator's motion, thereby extending reach without increasing manipulator complexity.
2Length of moving object
If the payload carrier is extended to increase reach, then the ability to access distant payloads is improved, but the space required for stowage increases
Solution Approach 1:
The payload carrier is divided into multiple telescoping sections that can be independently extended and retracted. When not in use, these sections collapse into a compact configuration that minimizes stowage volume. During operation, the sections extend sequentially to achieve the required reach, allowing the system to have long reach capability while maintaining a small stowage footprint.
Solution Approach 2:
The telescoping sections of the payload carrier are nested within each other when retracted, similar to a nested doll structure. This nesting allows the carrier to achieve extended reach during operation while occupying minimal space when stowed, effectively resolving the contradiction between reach and stowage volume.
3Adaptability or versatility
If the payload holder assembly is made adjustable to accommodate various payload sizes, then the adaptability is improved, but the device complexity increases
Solution Approach 1:
The payload holder assembly incorporates adjustable components that can be dynamically reconfigured to match different payload dimensions. The holder includes movable walls and adjustable securing mechanisms that can be actuated to create custom-fit enclosures for various payload sizes, providing adaptability without requiring multiple fixed-size holders.
Solution Approach 2:
The payload holder assembly is designed as a universal structure that can accommodate multiple payload types and sizes through a single standardized interface. The adjustable features allow the same holder to securely carry different payloads by reconfiguring its internal dimensions, eliminating the need for multiple specialized holders and reducing overall system complexity.
Data Source
AI summary
The stowable payload carrier (SPC) apparatus and system described herein may be used in conjunction with a robot. The SPC includes a payload holder assembly, the payload holder assembly being configured to receive one or more payloads of a plurality of different sizes, the payload holder assembly being adjustable to accommodate dimensions of the one or more payloads of the plurality of different sizes. The SPC also includes an actuation device configured to cause the payload holder assembly to rotate, extend and/or retract among one or more deployed configurations and a stowed configuration, the actuation device being operably coupled to the payload holder assembly, wherein the actuation device payload holder assembly is configured to be accessible by a manipulator arm.