Three-Wheel Mobile Body with Mecanum and Omni Wheels
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Solution Overview
Problem
Existing omnidirectional movement mechanisms using omni wheels and mecanum wheels face challenges in downsizing due to dead space and the need for suspension apparatuses, which hinder efficient use of space and movement.
Innovation Solution
A mobile body configuration with three wheels, including one or two mecanum wheels and one or two omni wheels, attached parallel to the base, eliminating the need for suspension apparatuses and allowing for compact design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If three omni wheels are attached to a rectangular box-shaped base with wheels oriented at 120 degrees apart, then omnidirectional movement is enabled, but dead space increases and downsizing becomes difficult
Solution Approach 1:
The patent applies asymmetry by using a three-wheel configuration instead of symmetric four-wheel arrangements, and by orienting wheels at specific angles (including parallel orientations) rather than uniform 120-degree spacing. This asymmetric arrangement reduces dead space while maintaining omnidirectional movement capability through the combination of mecanum and omni wheels with different roller orientations.
2Area of stationary object
If four mecanum wheels are attached to a rectangular box-shaped base with wheels oriented in the same direction, then dead space is reduced, but suspension apparatus is required on each wheel to ensure ground contact
Solution Approach 1:
The patent extracts and eliminates the suspension apparatus from the system by using a three-wheel configuration where the wheels directly contact the ground without requiring additional suspension mechanisms. This is achieved by strategically positioning and orienting the wheels so that their combined contact points provide sufficient stability and force transfer to the ground.
Solution Approach 2:
The patent applies local quality by using different wheel types (mecanum wheels with inclined rollers and omni wheels with orthogonal rollers) at different positions on the base. Each wheel type is strategically placed to provide specific movement capabilities while maintaining ground contact, eliminating the need for universal suspension apparatus on all wheels.
3Reliability
If suspension apparatus is provided on each wheel to ensure ground contact, then driving force transfer to ground is reliable, but movement mechanism size increases
Solution Approach 1:
The patent removes the suspension apparatus entirely from the system by using a three-wheel configuration where the wheels directly contact the ground. The strategic arrangement of mecanum and omni wheels provides sufficient ground contact and force transfer reliability without requiring additional suspension components, thereby reducing overall mechanism volume.
Data Source
AI summary
A mobile body includes a base, three wheels attached to the base, and actuators each of which drives each wheel, and enables omnidirectional movement. Of the three wheels, one or two of the wheels are first configuration wheels, and the remaining wheel or wheels are second configuration wheels. The one wheel is oriented parallel or orthogonal to the orientation of the other two wheels.