公开(公告)号：US20110206481A1

公开(公告)日：2011-08-25

申请号：US13099140

申请日：2011-05-02

申请人： MAYEZ AL-MOUHAMED ,  NESAR MERAH

发明人： MAYEZ AL-MOUHAMED ,  NESAR MERAH

IPC分类号： B25J3/04 ,  B25J3/00

CPC分类号： B25J3/00 ,  B25J9/104 ,  B25J13/025 ,  G05G2009/04766 ,  Y10S901/08 ,  Y10S901/21 ,  Y10S901/23

摘要： The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.

摘要翻译： 拟人力反射主臂是一种轻型，拟人的，可驱动的六自由度（DOF）主臂，用于控制具有任意结构的远程从属设备的运动。 三个连杆构件彼此旋转地联接以形成手柄，使得每个手柄连杆构件的旋转轴在使用者的手位置相交。 主臂的运动学被简化为两个独立的子系统，它们是手的位置和手的方向。

公开(公告)号：US08770905B2

公开(公告)日：2014-07-08

申请号：US13099140

申请日：2011-05-02

申请人： Mayez Al-Mouhamed ,  Nesar Merah

发明人： Mayez Al-Mouhamed ,  Nesar Merah

IPC分类号： B25J3/00 ,  G05G9/047

CPC分类号： B25J3/00 ,  B25J9/104 ,  B25J13/025 ,  G05G2009/04766 ,  Y10S901/08 ,  Y10S901/21 ,  Y10S901/23

摘要： The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.

摘要翻译： 拟人力反射主臂是一种轻型，拟人的，可驱动的六自由度（DOF）主臂，用于控制具有任意结构的远程从属设备的运动。 三个连杆构件彼此旋转地联接以形成手柄，使得每个手柄连杆构件的旋转轴在使用者的手位置相交。 主臂的运动学被简化为两个独立的子系统，它们是手的位置和手的方向。

公开(公告)号：US20120175172A1

公开(公告)日：2012-07-12

申请号：US12987855

申请日：2011-01-10

申请人： ABDELHAFID BOUHRAOUA ,  NESAR MERAH ,  JASEEM AL-MUAYBID ,  ABDULJABAR AL SAYOUD ,  AYMAN AL-DARWEESH ,  JAWAD J. AL-DAWOUD

发明人： ABDELHAFID BOUHRAOUA ,  NESAR MERAH ,  JASEEM AL-MUAYBID ,  ABDULJABAR AL SAYOUD ,  AYMAN AL-DARWEESH ,  JAWAD J. AL-DAWOUD

IPC分类号： B62B5/02 ,  A61G5/06

CPC分类号： B62D61/125 ,  A61G5/06 ,  A61G5/104 ,  B62B5/0033 ,  B62B5/02 ,  B62D61/12

摘要： The stair-climbing apparatus has a series of articulating wheel sets extending below the platform. All of the wheel sets are vertically adjustable to negotiate stairways and similar changes of elevation. The lead wheel set is fixed longitudinally relative to the platform, while following wheel sets are longitudinally adjustable to adjust for the pitch or slope of different stairways. The apparatus uses sensors (e.g., mechanical, infrared, ultrasonic, etc.) to detect the presence of the stair risers and their height, control of the assembly being accomplished by a control circuit on board the machine. The wheel sets are raised and lowered independently of one another by pantograph mechanisms extending between the platform and the wheel sets. The horizontally adjustable wheel sets are positioned by a longitudinally disposed rack on the platform.

摘要翻译： 爬梯装置具有一系列在平台下方延伸的铰接轮组。 所有的轮组都可以垂直调节，以协商楼梯和类似的高程变化。 引导轮组相对于平台纵向固定，而后轮组可纵向调节，以适应不同楼梯的俯仰或倾斜。 该装置使用传感器（例如，机械，红外线，超声波等）来检测楼梯立管的存在及其高度，通过机器上的控制电路来实现组件的控制。 轮组通过在平台和车轮组之间延伸的缩放机构彼此独立地升高和降低。 水平调节的轮组由平台上纵向设置的机架定位。

公开(公告)号：US20100111645A1

公开(公告)日：2010-05-06

申请号：US12289792

申请日：2008-11-04

申请人： Mayez Al-Mouhamed ,  Nesar Merah

发明人： Mayez Al-Mouhamed ,  Nesar Merah

IPC分类号： B25J3/00 ,  B25J1/02

CPC分类号： B25J13/02 ,  B25J9/104

摘要： The anthropomorphic force-reflective master arm controls a remote robotic arm and includes a plurality of rotatably joined mechanical links extending from a base to provide up to six degrees of freedom. Three of the link members are rotatably coupled to each other to form a handle, so that axes of rotation of each of the handle link members intersect at a user's hand position. Cable and pulley assemblies for the link joints are connected to their corresponding backdrive motors, the backdrive motors being disposed on the base to provide efficient transmission of forces experienced by the remote machine to the master arm handle.

摘要翻译： 拟人力反射主臂控制远程机器臂，并且包括从基座延伸的多个可旋转地连接的机械连杆，以提供高达六个自由度。 三个连杆构件彼此可旋转地联接以形成把手，使得每个手柄连杆构件的旋转轴在使用者的手位置相交。 用于连接接头的电缆和滑轮组件连接到其相应的反向驱动电机，反向驱动电动机设置在基座上，以提供远程机器经受的主动臂对主臂手柄的有效传递。