06-11-2012, 03:42 PM
TRIZ APPLICATION IN DEVELOPMENT OF CLIMBING ROBOTS
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ABSTRACT
Paper is devoted to consideration of the practical application of the Algorithm of Inventive Problem
Solving (ARIZ) during the development process of the robot adaptive vacuum feet. Also TRIZ
technology evolution trends have been used for development of the new structures of the autonomous
climbing robot. These robots are being used for cleaning, finishing and diagnostics of arbitrarily
oriented surfaces in space for instance shop windows, glass vestibules, nuclear reactor walls and oil
tank surfaces. The new designs of the vacuum adaptive feet and climbing robots have been developed
with the aid of applied ARIZ and other TRIZ tools. The specific schemes and designs of vacuum
adaptive feet and robots are described. The new vacuum feet can operate on many different surfaces
including uneven and cracked ones. This paper has been illustrated with the pictures of real robots and
their performances. The outcome of this project was 20 patents with the application of some of them
in the current robot’s design. This paper is useful for TRIZ users who like a real case study with
measured results and demonstrate how TRIZ was used to develop the solutions.
INTRODUCTION
This publication continues line of papers [3, 4] integrating author’s knowledge on the practical
application of basic TRIZ tools used in real-life projects. Particularly, ARIZ application in mechanical
engineering design in different actual practices of mass-production company, a consulting firm,
university’s scientific laboratory is accumulated in these articles. Successful and unsuccessful
sometimes experience of applying TRIZ gives potential to summarize some material for future
improvement of methodology’s tools by analysis of specific practical projects.
The paper consists of two parts. The first part is devoted to practical application of ARIZ85B for
development and improvement of new robot’s vacuum adaptive feet which capable to operate on the
cracked surface. The main problem of solving process in this part was to develop new concept designs
providing reliable work of vacuum robot’s foot on cracked surfaces which destroys vacuum.
The second part of paper dedicated to practical application of TRIZ evolution trends or patterns to
development of new vacuum wall-climbing robot’s designs. The main goal of that process is to obtain
such robot’s designs that are able to work like autonomous vehicles with good parameters of
controllability and manoeuvrability and without connection by pipes and lines with land-based power
supply equipment.
ARIZ DEVELOPMENT OF ADAPTIVE FEET
The Algorithm of Inventive Problem Solving (ARIZ) [1] application for the development of new
vacuum feet designs for climbing robot is described in this part of paper. Specifically, improvement of
vacuum suction mechanism is considered, which provides the reliable vacuum adhesion of the robot
to different working surfaces. For this given problem, ARIZ85B [2] was used and basic logical
procedures used are briefly explained.
The first part of algorithm requires analysis of the problem, development of the problem statement
and transition from the problem with an indefinite inventive situation to an extremely simple model of
the problem. The second part of ARIZ helps to analyze of the problem’s model and define product,
tool, supersystem and environment substances and field resources used during solving process. The
third part, images of Ideal Final Result and Physical Contradiction are formulated. These definitions
guide us to a complete set of breakthrough
solutions. The forth part continues
transformation from problem to solutions
based on the physics by mobilization and
utilization of existent system resources. The
goal of the fifth part is development of new
concept of solutions by utilization of the
information databases.
The Robot Foot’s Structure and Principle
As mentioned before, for movement of the robot on a cleaned window surface, two vacuum feet are
used 4 and 5 (Fig.1). The vacuum under foot is created by small-sized vacuum pump 1 (Fig.2). The
small-sized vacuum pump 1 can be located directly on the foot's body 2. The vacuum foot has an
elastic seal 3 which contacts with the cleaned glass surface 4. Vacuum is generated under the foot by a
vacuum pump and holds the robot on the cleaned glass surface during its motion from one position to
other one. If the glass surface doesn't have any defects, the vacuum foot works well. But if on the
glass surface there is a defect 5 (crack, orifice, irregularity, etc.), the efficiency of the vacuum foot is
compromised. The inner vacuum of the foot is depressurized by leakage of atmospheric air through
the defect.
To compensate for the leak and preservation of the vacuum under the foot, engineers tried to apply a
high-power vacuum pump. But the overall dimensions and weight of foot and robot are greatly
increased. Therefore, the robot’s manoeuvrability
and productivity become worst.
TRIZ IDEALITY TREND APPLICATION
In accordance with the TRIZ Ideality Principle, the ideal system performs its functions without a
system (system is absent). Therefore any technical system throughout its life tends to become more
simple, effective, reliable, i.e. more ideal. Ideality always reflects maximum utilization of existing
resources. In this project several ways have been used to make this robot a more ideal technical
system:
- utilize internal and external resources that already exist or easily available for new robot’s
functions
- increase the amount of useful functions of the system
- transfer as many functions as possible to the feet which produce the robot’s final action
- transfer some function of the robot to the supersystem or to the outside environment.
UTILIZATION OF DINAMIZATION TREND
Dynamization trend states that in the course of evolution, a technical system develops from a rigid
structure into a flexible or jointed system. The use of dynamization leads the system to a higher level
of Ideality and provides new useful functions to the system.
Dynamization of the system, as rule, provides for better efficiency and control of the system. In
accordance with this trend dynamization can go beyond one hinge design, many hinges, flexible form
to liquid and gas and then to plasma and physical field. Additionally, the system can also become
more dynamic at the field level – from continuous effect to impulse effect.
Using this trend for robot’s design has led to improvement of features and increasing of robot’s
functionality. Only one example with application of dynamization trend for problem solving 7 is
considered.