Our product is our patented platform for outdoor mobile robots. Our platform is based on our patented wheel frame, patent: WO2015197069, offers several significant advantages compared to its competitors.
Innovative in all aspects of the design, our wheel frame creates exciting new possibilities for mobile robots, and powers through barriers that have limited the mobility of mobile robots for many years. With its innovative design, our wheel frame makes it possible to create fast agile mobile robots, that are low energy consuming and can easily climb curbs if needed. The steering is very precise and allows for high speed, optional movements and manoeuvrability.
THE 5 ADVANTAGES OF OUR WHEEL FRAME
With our patented wheel frame chassis, patent: WO2015197069, you can drive your mobile robot around where normal mobile robots would get stuck. Our wheel frame can even perform a full 360-degree turn on a 30% sloping surface if needed. These factors dramatically improve the mobile capabilities of mobile robots.
FREEDOM TO OPERATE
Because our patented wheel frame chassis is based on a driving and steering front and back wheel, it differs from the existing types mobile robots. A lot of the granted patents and patent pending solutions concerning mobile robots, relate to the differentiated steering type. As such, our wheel frame expands our customers freedom to operate.
HIGH SPEED & STRENGTH
Mobile robots built with our wheel frame can be blazingly fast, as the steering is precise and the front and back wheels maintain course. Powered in front and back, our wheel frame allows for unparalleled speed and strength compared to differentiated steering and Omni-wheeled mobile robots. Even four-wheel drive is possible, which allows for pulling very heavy objects.
AGILE PRECISE DRIVING
Our wheel frame can be used for indoor as well as outdoor mobile robots, as it can maneuver agilely and precisely, and power through any surface or terrain. Thanks to the patented wheel frame, it can climb curbs as high as 40% of wheel height. The precision in driving makes it easier to navigate and position the robot.
Due to its low weight and the fact that all the power used for propulsion is directed towards the driving path, the energy consumption is very low. Its big wheels further lowers the power consumption when driving, compared to the mobile robot's height. This improves the range of the robot, resulting in more work hours per charge. Like the other key features of the vehicle, this improves the robot's freedom of mobility.
The patented wheel frame
Currently, our patent: WO2015197069, has been granted in USA, EU, UK, Australia, Japan, China and Israel. It is in the national phase in Canada and South Korea.
Summary from the patent: The present invention relates to a chassis for vehicle, comprising: a rigid frame, a pair of side wheels in a parallel configuration, a steerable front wheel, a steerable rear wheel, at least one electric motor, wherein at least one of said front wheel or rear wheel is connected to and driven by the at least one electric motor, and wherein said front and rear wheels are mutually connected through a turning mechanism arranged to turn said front and rear wheels simultaneously and synchronously between a middle position in which the axles of the front and rear wheels are substantially parallel with the axles of side wheels, and left or right positions, in which the axles of the front and rear wheels are substantially perpendicular to the axles of the side wheels.
The illustration of the frame is from the patent and is only an example of possible terrain adaption.
The possible terrain adapting and suspension systems are many and are also covered by the patent.
STEERING AND PROPULSION
A differential wheeled robot varies the drive output of its two drive wheels in a differential manner to generate curvilinear motion. This method’s drive path is unpredictable due to its reliance on friction with the
surface, wear on tires, and the distance between the driving wheels.
Omni-directional wheel robots rely on a complex combination of drive wheels comprised of smaller diagonal castors and differential steering to generate curvilinear motion. This approach requires high drive torque on all wheels to overcome friction and steer into its desired path, and like differential wheeled they are complex to predict and vulnerable to slippery surfaces.
Our solution has steering, and drive forces separated through its innovative frame-approach.
Thus, it becomes simpler to predict its drive paths, and movements become more energy efficient since all available drive torque goes into the direction of the forward motion.
CURB CLIMB: OUR SOLUTION
By the combined toque effort of both the front and rear wheel motors, our solution can seamlessly and efficiently traverse obstacles up to 40% of wheel height. And this regardless of whether the obstacle is sharp or rounded, or if one or all wheels encounter the obstacle..
When first encountering an obstacle, our solution behaves similarly to an omni-directional wheeled robot.
By pulling over the obstacle with its front wheel and pushing with its rear wheel, it can effectively power over obstacles up to 40% of wheel height.
As soon as the front wheel has traversed the obstacle, the side wheels are then able to be pulled up over the obstacle by the combined effort of front and rear wheels which inherently stabilizes the operation.
This is furthermore strengthened due to the pull angle, going from the front wheel to the side wheels.
Once the side wheels have cleared the obstacle and gained stability, the rear wheel can then be pulled over the obstacle, by a combination of its own torque and the pulling force of the front wheel. As for the side wheels, this is furthermore strengthened due to the pull angle, going from the side wheels to the back wheel.
When encountering sharp obstacles differential steered robots are severely limited by their castor wheels, since the size of the castor wheels are limited by height. The smaller wheels, the lesser climb ability. The drive torque is transmitted from the middle of the robot and as such has no “pull up” effect. The robot must be able to push its castor wheels over a given obstacle, and therefore is dependent on their height. Furthermore caster wheels tend to turn 90 degrees from the driving direction when meeting a vertical obstacle, blocking the climb.
OMNI WHEEL STEERING
Omni-directional wheeled mobile robots, while able to pull over with their front wheel and pushing with their rear wheels, suffer from the weakness of the wheel design itself. The smaller castor wheels that make up omni-directional wheels are inherently sensitive to sharp edges and thus sudden obstacles. Furthermore, a slip from a wheel will make the robot turn to the side. The caster wheels, due to their size, do not allow for deep grip treads, but are normally slick and as such not suited to climb obstacles.
Mads Bendt and the Else and Erik Jørgensen Family Foundation founded Bendt Inventors ApS in November 2017. Ultimo 2018 Hybsch Connect Holding ApS joined us as an investor and we changed our name to Capra Robotics ApS
Our Board of Directors consists of CEO Niels Jul Jacobsen, CTO Mads Bendt and Chairman Øjvind Hulgaard.
NIELS JUL JACOBSEN
CEO, board member at Capra Robotics ApS, and founder of Mobile Industrial Robots ApS
Education: MSc in Computer Science Technology, Robotics
Niels has worked with robotic solutions since 1989. Before founding MIR he successfully managed RoboLab at University of Southern Denmark. Niels has solid experience in management of both Danish and European research projects.
CTO, Chief-Inventor and Co-founder of Capra Robotics ApS
Education: B.Sc. Mechanical Engineering, MBA in Economics, B.Sc. Educational Science.
Mads’ working areas are mainly in IPR-protected radical innovation, innovation sparring and inventions. He is an experienced inventor and has a large portfolio of several patents, patent applications and utility models.
Chairman of the board of Capra Robotics ApS and Chairman of the Erik and Else Jørgensen Family Foundation
Øjvind is an attorney and owner of the law firm Hulgaard Advokater in Aarhus and Kolding. He is Chairman of Erik and Else Jørgensen’s Family Foundation and Chairman or board member of several private companies. Øjvind is a board member of the trade organization The Association of Danish Law Firms (Danske Advokater), where he also served as Vice-chairman from 2008-2012.
At Capra, we find it natural to involve researchers, universities and others interested in developing possibilities for the concept we have created and patented. This is essential as the wheel frame is "State Of The Art" and allows for new applications.
The Capra Minima Research Robot
At Capra, it is our philosophy to work with those that share our development-, value- and business goals. We have a unique platform. Let’s build unique solutions together.