VTOL Gimbal Decoupling for Obstacle Impact Stability
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Solution Overview
Problem
Existing VTOL aerial vehicles face instability and crash risks due to large external torques and forces from collisions with obstacles, limiting their ability to take off from uneven ground or roll on obstacles, as their control systems struggle to quickly correct orientation disturbances.
Innovation Solution
A VTOL aerial vehicle design featuring an inner frame with a gimbal system and an outer frame that allows the outer frame to passively rotate independently, decoupling it from the inner frame, which contains the propulsion and control systems, enabling the vehicle to maintain stability and take off from any orientation while protecting the inner frame from external impacts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the outer frame is rigidly attached to the inner frame containing propulsion and control systems, then structural strength is improved, but stability deteriorates due to large external torques and forces from collisions with obstacles
Solution Approach 1:
The vehicle frame is segmented into an outer frame and an inner frame that are decoupled from each other. The outer frame provides structural strength and protection against external impacts, while the inner frame houses the propulsion and control systems and maintains stability through independent orientation control. This segmentation allows each frame to fulfill its specific function without compromising the other.
Solution Approach 2:
A passive rotation mechanism acts as an intermediary between the outer frame and the inner frame. This mechanism allows the outer frame to rotate independently in response to external disturbances while the inner frame maintains its orientation through active control. The intermediary decouples the transmission of external torques from the sensitive propulsion and control systems.
2Stability of the object's composition
If the control system actively stabilizes the vehicle orientation during flight, then stability is improved, but the ability to take off from uneven ground or roll on obstacles deteriorates due to inability to quickly correct large orientation disturbances
Solution Approach 1:
The segmentation of the frame into outer and inner parts enables the outer frame to freely rotate and make contact with obstacles during takeoff or rolling operations, while the inner frame with the control system remains isolated and maintains stable orientation. This allows the vehicle to adapt to uneven terrain and obstacles without compromising flight stability.
Solution Approach 2:
The passive rotation mechanism serves as an intermediary that isolates the active control system from external disturbances during challenging operations. When the outer frame contacts obstacles or rotates during takeoff from uneven ground, the intermediary prevents these disturbances from directly affecting the inner frame and propulsion system, allowing the control system to maintain stability without needing to react to large orientation changes.
3Reliability
If protective structures are added to prevent damage from external objects, then reliability is improved, but the ability to roll on obstacles deteriorates due to constraints on frame rotation
Solution Approach 1:
The protective outer frame is segmented and decoupled from the inner frame, allowing the outer frame to rotate freely and make contact with obstacles during rolling operations. The inner frame with sensitive components remains protected within this rotating outer structure, maintaining reliability while enabling obstacle interaction.
Solution Approach 2:
The passive rotation mechanism acts as an intermediary that allows the protective outer frame to rotate and contact obstacles without transmitting these motions to the inner frame. This intermediary enables the vehicle to roll on obstacles while the protective structure fulfills its function of shielding the sensitive components.
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
This design reduces disturbances from collisions, allows the vehicle to roll on obstacles and take off from uneven ground, maintaining stability and preventing crashes by decoupling the outer frame's rotation from the inner frame's orientation, enabling safe and versatile operation near obstacles.
Implementation Method 1
an outer frame (304) decoupled from an inner frame (312) with a gimbal system (301)
Implementation Method 2
a propulsion system (e.g. one or more propellers) that generates an upward force (lift) to counter gravity
Implementation Method 3
a control system to control their orientation or direction in order to stay in a stable orientation or to move sideways
Data Source
Figure 1A~1B
Figure 1C
Figure 1D
AI summary
A VTOL (vertical take-off and landing) aerial flying vehicle comprising an inner frame (312), a gimbal system (301) and an outer frame (304), the inner frame comprising a propulsion system and a control system. The propulsion system being able to generate a lift force. The control system being able to control the orientation of the inner frame. The gimbal system (301) connecting the inner frame (312) to the outer frame (304) with at least two rotation axis allowing rotation freedom between the outer frame to rotate independently from the inner frame.