公开(公告)号：US5207110A

公开(公告)日：1993-05-04

申请号：US678553

申请日：1991-03-28

申请人： Meng-Sang Chew ,  Jer-Nan Juang ,  Li-Farn Yang

发明人： Meng-Sang Chew ,  Jer-Nan Juang ,  Li-Farn Yang

IPC分类号： B64G7/00

CPC分类号： B64G7/00

摘要： A suspension device is provided for simulating the free-free boundary conditions of space for a low frequency structure. A support cable is connected at one end to the test structure and is vertically guided by a guiding ring. The other end of the cable is connected to a cam having an outer circumference which supports the cable. A drive axle passes through the cam center of rotation and is rotatably journalled in a suitable manner to a rigid structure. Two torsion springs are provided about the drive axle. One end of each spring is connected to a respective face of the cam and the other end is connected to the fixed support. The cam is shaped and the torsion springs selected such that Wr.sub.(t) =T.sub.s(t), wherein W is the weight of the test structure; r.sub.(t) is the instantaneous moment arm defined as the perpendicular distance from the rotational center of the cam to the cable at time t, and T.sub.s(t) is the total spring torque exerted by the two springs on the cam at time t. The test structure is accordingly vertically suspended by the cable and the instantaneous moment arm compensates for any increased spring torque arising from a vertical displacement of the test structure to simulate space conditions.

摘要翻译： 提供一种用于模拟低频结构空间的无自由边界条件的悬挂装置。 支撑电缆的一端连接到测试结构，并由引导环垂直引导。 电缆的另一端连接到具有支撑电缆的外周的凸轮。 驱动轴通过凸轮的旋转中心，并且以适当的方式可旋转地轴颈到刚性结构。 驱动轴周围设有两个扭簧。 每个弹簧的一端连接到凸轮的相应表面，另一端连接到固定支架。 凸轮成形，并且选择扭转弹簧使得Wr（t）= Ts（t），其中W是测试结构的重量; r（t）是在时间t定义为从凸轮到电缆的旋转中心的垂直距离的瞬时力矩，Ts（t）是在时间t由两个弹簧施加在凸轮上的总弹簧扭矩。 因此，测试结构由电缆垂直悬挂，瞬时力臂补偿由测试结构的垂直位移产生的模拟空间条件的任何增加的弹簧扭矩。

公开(公告)号：US5253771A

公开(公告)日：1993-10-19

申请号：US793974

申请日：1991-11-18

申请人： Martin M. Mikulas, Jr. ,  Li-Farn Yang

发明人： Martin M. Mikulas, Jr. ,  Li-Farn Yang

IPC分类号： B66C13/06 ,  B66C23/76

CPC分类号： B66C23/76 ,  B66C13/06

摘要： The invention is a counter-balanced, multiple cable construction crane. The apparatus for hoisting payloads comprises a crane having a lifting segment and a counter-balanced segment. The lifting segment comprises an end effector and three cables. One end of each cable attaches to a different winding device located on the lifting segment, and the other end of each cable attaches to a different point on the end effector, such that the three cables have a theoretical point of convergence, this point corresponding with a center of mass of the payload. Three controls command rotation of the winding device to a predetermined position. Accordingly, the crane provides precise and autonomous positioning of the payload without human guidance. Two controls position the counter-balancing segment to offset the overturning moment which arises during the lifting of heavy payloads.

摘要翻译： 本发明是一种平衡平衡的多重电缆施工起重机。 用于提升有效载荷的装置包括具有提升段和相对平衡段的起重机。 提升段包括端部执行器和三根电缆。 每个电缆的一端连接到位于提升段上的不同的绕线装置，并且每个电缆的另一端连接到端部执行器上的不同点，使得三根电缆具有理论的收敛点，这一点对应于 有效载荷的中心。 三个控制器指示卷绕装置旋转到预定位置。 因此，起重机在没有人引导的情况下提供有效载荷的精确和自主定位。 两个控制器将反平衡段定位以抵消在重载荷提升期间产生的翻转力矩。

公开(公告)号：US5146803A

公开(公告)日：1992-09-15

申请号：US678551

申请日：1991-03-28

申请人： Meng-Sang Chew ,  Jer-Nan Juang ,  Li-Farn Yang

发明人： Meng-Sang Chew ,  Jer-Nan Juang ,  Li-Farn Yang

IPC分类号： B25J17/02 ,  F16H19/00

CPC分类号： F16H19/0659 ,  B25J17/0241 ,  B64G1/222 ,  Y10T74/18056 ,  Y10T74/19884

摘要： A rolling joint is provided for obtaining slewing maneuvers for various apparatuses including space structures, space vehicles, robotic manipulators and simulators. Two noncircular cylinders, namely a drive and a driven cylinder, are provided in driving contact with one another. This contact is maintained by two pairs of generally S-shaped bands, each pair forming a generally 8-shaped coupling tightly about the circumferential periphery of the noncircular drive and driven cylinders. A stationarily fixed arm extends between and is rotatably journalled with a drive axle and a spindle axle respectively extending through selected rotational points of the drive cylinder and of the driven cylinder. The noncircular cylinders are profiled to obtain the desired varying gear ratio.

摘要翻译： 提供了一种用于获得包括空间结构，太空车辆，机器人操纵器和模拟器的各种装置的回转动作的滚动接头。 两个非圆形气缸，即驱动和从动气缸，彼此驱动接触。 该接触由两对大致S形的带保持，每对一对围绕非圆形驱动和从动缸的圆周周围形成大致8形的联接。 固定的固定臂在驱动轴和主轴之间延伸并且可旋转地支承在主轴上，驱动轴和主轴分别延伸穿过驱动气缸和从动缸的选定旋转点。 非圆形圆柱体成型以获得所需的变速比。