Adaptive UGV Stabilizer Flipper for Stair Climbing Stability
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional unmanned ground vehicles (UGVs) face challenges in achieving simultaneous mobility, stability, and the ability to access tight spaces due to conflicting operational requirements, often struggling to satisfy multiple capabilities such as climbing stairs, traversing obstacles, and handling hazardous materials effectively.
Innovation Solution
The UGV incorporates a stabilizer flipper system with an actuated rotary joint and pivot joint, allowing the flipper to dynamically reorient and extend to provide adaptive stabilization, which can be controlled to counteract destabilizing forces and facilitate mobility, including stair climbing, while being compact enough to fit in tight spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the UGV is made small to fit into tight areas, then the vehicle size is reduced, but the stability and mobility for climbing stairs and traversing obstacles deteriorate
Solution Approach 1:
The stabilizer flipper is designed to dynamically adjust between a stowed position (for navigating tight spaces) and a deployed position (for providing stability). The flipper can be actuated to extend laterally when stability is needed and retract when compactness is required, allowing the vehicle to adapt its configuration based on operational requirements.
Solution Approach 2:
The stabilizer system is segmented into a modular flipper structure that can be independently deployed and retracted. This segmentation allows the stabilizing function to be separated from the main vehicle body, enabling the vehicle to maintain compact dimensions while providing stability when needed.
2Length of moving object
If the UGV is equipped with a long robotic manipulator arm to access areas and lift heavy objects, then the manipulator capability is improved, but the vehicle stability deteriorates due to increased weight and reach
Solution Approach 1:
The stabilizer flipper acts as a counterbalancing element that can be deployed to offset the destabilizing effects of the long robotic manipulator arm. When the manipulator extends or lifts heavy objects, the flipper can be positioned to provide opposing moments, counteracting the tendency of the vehicle to tip over.
Solution Approach 2:
The stabilizer flipper dynamically adjusts its position in response to manipulator arm movements. The system can sense when the manipulator is extended or loaded and automatically deploy the flipper to maintain balance, creating a dynamic stabilization system that adapts to changing operational conditions.
3Adaptability or versatility
If the UGV is equipped with disruptors that produce large impulse forces, then the EOD capability is improved, but the vehicle stability deteriorates due to recoil forces
Solution Approach 1:
The stabilizer flipper is pre-positioned or rapidly deployed before disruptor firing to counteract the anticipated recoil forces. By having the stabilizer mechanism ready in advance, the system can immediately counterbalance the impulse forces generated during EOD operations, preventing vehicle instability.
Solution Approach 2:
The stabilizer flipper provides a counterbalancing force that opposes the recoil impulse from disruptor firing. The flipper's positioning and actuation are designed to generate counter-moments that neutralize the destabilizing effects of large impulse forces during EOD tasks.
4Stability of the object's composition
If conventional stabilizer systems are added to improve stability, then the stability is improved, but the device complexity and number of additional motors increase
Solution Approach 1:
The stabilizer flipper is designed to perform multiple functions: it provides stability during manipulator operations, assists during stair climbing, and counteracts recoil forces. This multi-functionality reduces the need for separate dedicated stabilizer systems, thereby simplifying the overall device complexity while maintaining comprehensive stability support.
Data Source
AI summary
Unmanned ground vehicle (UGV) includes a rotary joint having an axis of rotation. A rotary joint actuator is responsive to at least one control signal and is configured to cause a rotatable portion of the rotary joint to rotate relative to the vehicle chassis about the rotary joint axis of rotation. A stabilizer flipper having an elongated length is attached to the rotatable portion. Consequently, rotation of the rotatable portion about the rotary joint axis of rotation results in a change of orientation of the stabilizer flipper relative to the chassis. This change in orientation can range between a lateral direction and an longitudinal direction with respect to the vehicle chassis.