Robotic Wheeled Base Suspension for Shock Absorption and Stability
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Solution Overview
Problem
Current wheeled bases for robotic assistants are not effective in shock absorption, particularly when traversing uneven surfaces or gaps, and lack stability under side loads, leading to non-smooth motion and performance issues.
Innovation Solution
The wheeled base incorporates a suspension system with spring and damper mechanisms that allow for bi-directional damping, combined with actuated feet that can extend or retract to enhance stability and reachability, enabling smoother movement over uneven surfaces and increased static stability during manipulation tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If unidirectional shock absorbers are used, then shock absorption is provided in one direction, but more time is needed to absorb shock resulting in non-smooth motion
Solution Approach 1:
The patent applies bidirectional dampers that can dynamically absorb shocks from both upward and downward directions, replacing unidirectional shock absorbers. This allows the wheeled base to quickly respond to shocks from either direction without requiring additional time for oscillation damping, thereby achieving smooth motion while maintaining effective shock absorption.
2Reliability
If spring suspension is used, then wheels remain touching the flooring on uneven surfaces, but shock absorption effectiveness is reduced
Solution Approach 1:
The patent combines spring suspension with bidirectional shock absorbers in an integrated suspension system. The spring suspension maintains wheel contact with the flooring on uneven surfaces, while the bidirectional shock absorbers provide effective shock absorption from both upward and downward impacts, thereby simultaneously achieving reliable wheel contact and effective shock absorption.
3Ease of operation
If conventional wheeled base is used, then movement is enabled, but stability under side load is insufficient affecting performance
Solution Approach 1:
The patent employs actuated feet that can dynamically extend and retract based on operational requirements. During manipulation tasks, the feet extend to provide additional support and enhance static stability under side loads. During movement, the feet can retract to minimize interference with motion, thereby maintaining both movement capability and stability under side load.
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
The solution provides improved shock absorption and stability, allowing the robotic assistant to navigate uneven surfaces and maintain stability during tasks, enhancing its operational efficiency and reachability.
Implementation Method 1
The suspension system includes a spring and damper mechanisms that allow for bi-directional damping
Implementation Method 2
The suspension system includes a spring and damper mechanisms that allow for bi-directional damping
Data Source
AI summary
A wheeled base includes a housing, two driven wheeled mechanisms positioned on a bottom of the housing and on opposite sides of the housing, at least one passive wheel positioned on the bottom of the housing, actuated feet positioned on the bottom of the housing and configured to move up and down, sensors, and a battery pack arranged within the housing. The two driven wheeled mechanisms each includes a damping mechanism, and each damping mechanism includes at least two dampers configured to absorb impact caused by an upward movement of the housing, and absorb impact caused by a downward movement of the housing.