Wheel-Leg Moving Body Layout for Stable High-Speed Rough Travel
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Solution Overview
Problem
The existing two-wheel inverted pendulum mechanism-based moving bodies face difficulties in high-speed movement and navigating uneven or unpaved roads due to their inherent characteristics, necessitating a more flexible movement solution.
Innovation Solution
A moving body with four or more legs, each equipped with wheels that can be controlled along two axes, featuring front and rear wheel legs capable of swinging to positions where their wheels overlap orthogonally, allowing for dynamic posture changes to enhance stability and maneuverability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a two-wheel inverted pendulum mechanism is used, then the structure is simple, but the moving body cannot move at high speed and cannot navigate uneven roads
Solution Approach 1:
The moving body is divided into multiple independent wheel legs (front and rear) that can be controlled separately. Each wheel leg operates independently to achieve complex movements, allowing the system to navigate uneven terrain and maintain stability at high speeds while keeping each individual component relatively simple.
Solution Approach 2:
The wheel legs are designed to be dynamically adjustable in position and orientation. The front wheel legs can swing forward and the rear wheel legs can swing backward, allowing the moving body to adapt its posture in real-time for different terrain conditions and speed requirements, enhancing movement flexibility without significantly increasing structural complexity.
2Area of stationary object
If the wheel legs are positioned to overlap orthogonally, then the footprint is minimized, but the stability may be compromised
Solution Approach 1:
The wheel legs transition from a static overlapping configuration to a dynamic, adjustable configuration. During travel, the front and rear wheel legs swing forward and backward respectively, expanding the footprint to improve stability. This dynamic adjustment allows the system to maintain both compact storage and stable operation.
Solution Approach 2:
The position parameters of the wheel legs are changed based on operational requirements. When stability is needed, the wheel legs are positioned to increase the footprint; when compactness is needed, they are repositioned to overlap orthogonally. This parameter adjustment resolves the contradiction between footprint size and stability.
Data Source
AI summary
To provide a moving body that is capable of more flexible movement.Provided is a moving body including four or more legs that have wheels at ends thereof and are able to be controlled along two or more axes, and a body supported at the four or more legs, in which the four or more legs include two or more front wheel legs that are capable of swinging forward in an advancing direction of the body, and two or more rear wheel legs that are capable of swinging backward in the advancing direction of the body, and the front wheel legs and the rear wheel legs are capable of swinging to such positions that the wheels overlap one another in a direction orthogonal to the advancing direction.