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公开(公告)号：US09630815B2
公开(公告)日：2017-04-25
申请号：US13664947
申请日：2012-10-31
发明人： Dalong Gao , Alexandre Lecours , Thierry Laliberte , Simon Foucault , Clement Gosselin , Boris Mayer-St-Onge , Roland J. Menassa , Pierre-Luc Belzile
CPC分类号： B66C17/00 , B66C13/30 , B66C23/005
摘要： A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
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公开(公告)号：US09850108B2
公开(公告)日：2017-12-26
申请号：US15459832
申请日：2017-03-15
发明人： Dalong Gao , Alexandre Lecours , Thierry Laliberte , Simon Foucault , Clement Gosselin , Boris Mayer-St-Onge , Roland J. Menassa , Pierre-Luc Belzile
CPC分类号： B66C17/00 , B66C13/30 , B66C23/005
摘要： A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
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3.发明授权Movement system configured for moving a payload in a plurality of directions 有权移动系统被配置为在多个方向上移动有效载荷公开(公告)号：US08985354B2
公开(公告)日：2015-03-24
申请号：US13664963
申请日：2012-10-31
发明人： Alexandre Lecours , Simon Foucault , Thierry Laliberte , Clement Gosselin , Boris Mayer-St-Onge , Dalong Gao , Roland J. Menassa
摘要： A movement system includes a bridge crane, a trolley, and a movement device. The movement device includes an attachment portion, a plurality of housings, first and second curved elements, a cable, and a cable angle sensor. The curved elements are pivotally attached to housings and perpendicularly overlap with one another such that a first slot defined in the first curved element is perpendicular to a second slot defined in the second curved element. The first curved element is pivotable about a first axis and the second curved element is configured to pivot about a second axis. The cable extends from the attachment portion and through each of the slots. The cable is pivotable to angularly displace at least one of the curved elements about a respective axis. The cable angle sensor is configured to measure the angular displacement of the at least one of the first and second curved elements.
摘要翻译： 移动系统包括桥式起重机，手推车和移动装置。 移动装置包括附接部分，多个壳体，第一和第二弯曲元件，电缆和电缆角度传感器。 弯曲元件枢转地附接到壳体并且彼此垂直地重叠，使得限定在第一弯曲元件中的第一槽垂直于限定在第二弯曲元件中的第二槽。 第一弯曲元件可围绕第一轴线枢转，并且第二弯曲元件构造成围绕第二轴线枢转。 电缆从连接部分延伸穿过每个狭槽。 电缆可枢转，以绕相应的轴线成角度地移位至少一个弯曲元件。 电缆角度传感器构造成测量第一和第二弯曲元件中的至少一个的角位移。
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公开(公告)号：US20130112644A1
公开(公告)日：2013-05-09
申请号：US13664947
申请日：2012-10-31
发明人： Dalong Gao , Alexandre Lecours , Thierry Laliberte , Simon Foucault , Clement Gosselin , Boris Mayer-St-Onge , Roland J. Menassa , Pierre-Luc Belzile
IPC分类号： B66C17/00
CPC分类号： B66C17/00 , B66C13/30 , B66C23/005
摘要： A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
摘要翻译： 移动装置通过提供构造成测量围绕相应的旋转轴线的第一和第二运动连杆中的至少一个的旋转角度的传感器沿X轴和Y轴移动。 在第一和第二运动连杆上施加力，使得实现第一和第二运动连杆围绕相应的旋转轴线的角位移。 确定第一和第二运动连杆围绕相应的旋转轴线的角位移。 响应于确定第一和第二运动链路围绕相应旋转轴线的旋转角度直到第一和第二运动链路垂直，运动装置沿X轴和/或Y轴移动。
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公开(公告)号：US20170183202A1
公开(公告)日：2017-06-29
申请号：US15459832
申请日：2017-03-15
发明人： Dalong Gao , Alexandre Lecours , Thierry Laliberte , Simon Foucault , Clement Gosselin , Boris Mayer-St-Onge , Roland J. Menassa , Pierre-Luc Belzile
CPC分类号： B66C17/00 , B66C13/30 , B66C23/005
摘要： A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
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6.发明申请MOVEMENT SYSTEM CONFIGURED FOR MOVING A PAYLOAD IN A PLURALITY OF DIRECTIONS 有权移动系统配置为在多个方向移动一个PAYLOAD公开(公告)号：US20130112643A1
公开(公告)日：2013-05-09
申请号：US13664963
申请日：2012-10-31
发明人： Alexandre Lecours , Simon Foucault , Thierry Laliberte , Clement Gosselin , Boris Mayer-St-Onge , Dalong Gao , Roland J. Menassa
摘要： A movement system includes a bridge crane, a trolley, and a movement device. The movement device includes an attachment portion, a plurality of housings, first and second curved elements, a cable, and a cable angle sensor. The curved elements are pivotally attached to housings and perpendicularly overlap with one another such that a first slot defined in the first curved element is perpendicular to a second slot defined in the second curved element. The first curved element is pivotable about a first axis and the second curved element is configured to pivot about a second axis. The cable extends from the attachment portion and through each of the slots. The cable is pivotable to angularly displace at least one of the curved elements about a respective axis. The cable angle sensor is configured to measure the angular displacement of the at least one of the first and second curved elements.
摘要翻译： 移动系统包括桥式起重机，手推车和移动装置。 移动装置包括附接部分，多个壳体，第一和第二弯曲元件，电缆和电缆角度传感器。 弯曲元件枢转地附接到壳体并且彼此垂直地重叠，使得限定在第一弯曲元件中的第一槽垂直于限定在第二弯曲元件中的第二槽。 第一弯曲元件可围绕第一轴线枢转，并且第二弯曲元件构造成围绕第二轴线枢转。 电缆从连接部分延伸穿过每个狭槽。 电缆可枢转，以绕相应的轴线成角度地移位至少一个弯曲元件。 电缆角度传感器构造成测量第一和第二弯曲元件中的至少一个的角位移。
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公开(公告)号：US20180079629A1
公开(公告)日：2018-03-22
申请号：US15803202
申请日：2017-11-03
发明人： Muhammad E. Abdallah , Clement Gosselin , Thierry Laliberte , Simon Foucault , Pascal Labrecque , James W. Wells , Jerome Landure
摘要： An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.
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公开(公告)号：US20170108098A1
公开(公告)日：2017-04-20
申请号：US15284043
申请日：2016-10-03
发明人： Muhammad E. Abdallah , Clément Gosselin , Thierry Laliberte , Simon Foucault , Pascal Labrecque , James W. Wells
CPC分类号： F16H21/54 , B25J9/0048 , B25J9/1065 , B25J17/00 , B25J17/0208 , F16H21/06
摘要： An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.
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公开(公告)号：US10759634B2
公开(公告)日：2020-09-01
申请号：US15803202
申请日：2017-11-03
发明人： Muhammad E. Abdallah , Clement Gosselin , Thierry Laliberte , Simon Foucault , Pascal Labrecque , James W. Wells , Jerome Landure
IPC分类号： G06F17/00 , B66C13/08 , B25J13/08 , B25J9/04 , B25J9/10 , B25J9/16 , B25J1/02 , B25J5/04 , B66C13/48 , B66C13/46 , B66C17/04 , B25J9/00 , B25J17/02
摘要： An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.
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