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公开(公告)号：US20180219452A1
公开(公告)日：2018-08-02
申请号：US15748443
申请日：2016-07-28
Applicant: HYDRO-QUÉBEC , UNIVERSITÉ LAVAL
Inventor： Julien BOISCLAIR , Pierre-Luc RICHARD , Thierry LALIBERTE , Clément GOSSELIN
CPC classification number: H02K7/04 , B25J19/0008 , G01M1/30 , H01F7/0231 , H02K5/15 , H02K5/165 , H02K7/1004 , H02K7/116 , H02K26/00 , H02K49/106 , Y10S901/48
Abstract: A mechanism comprises a first Halbach cylinder having an inner cavity, the first Halbach cylinder magnetized to produce a first magnetic flux concentrated circumferentially inside the inner cavity. A second Halbach cylinder is concentrically received in the inner cavity of the first Halbach cylinder to concurrently form a rotational joint having a rotational axis. One of the Halbach cylinders is a rotor and the other of the Halbach cylinders is a stator, the second Halbach cylinder magnetized to produce a second magnetic flux concentrated circumferentially outwardly. An output is connected to the rotor to rotate therewith relative to the stator, the output applying a gravity load on the rotor, the gravity load being offset from the rotational axis, whereby the magnetic flux of the first Halbach cylinder and the second Halbach cylinder cooperatively produce a torque against the gravity load caused by the output.
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公开(公告)号：US20240238964A1
公开(公告)日：2024-07-18
申请号：US18599971
申请日：2024-03-08
Applicant: UNIVERSITÉ LAVAL
Inventor： Clément GOSSELIN , Kefei WEN , David HARTON , Thierry LALIBERTE
CPC classification number: B25J9/1065 , B25J9/0045 , B25J15/0266 , F16M11/043 , F16M11/121 , F16M11/14 , F16M11/18
Abstract: A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.
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公开(公告)号：US20230033693A1
公开(公告)日：2023-02-02
申请号：US17789650
申请日：2021-01-22
Applicant: UNIVERSITÉ LAVAL
Inventor： Vincent BABIN , Clément GOSSELIN , Thierry LALIBERTE
Abstract: A mechanical finger has a base. A proximal phalanx and a distal phalanx is provided with a first epicyclic joint between the base and proximal phalanx, and a second epicyclic joint between the proximal phalanx and the distal phalanx. A distal four-bar mechanism includes the proximal phalanx, the distal four-bar mechanism coupled to the distal phalanx. A nail is optionally provided and has a joint mechanism movably connecting the nail to the distal most one of the phalanges between a stowed position in which a grasping tip of the nail is concealed in the distal most one of the phalanges, and a deployed configuration in which the grasping tip projects out of the distal most one of the phalanges.
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公开(公告)号：US20220143816A1
公开(公告)日：2022-05-12
申请号：US17435877
申请日：2020-02-28
Applicant: UNIVERSITÉ LAVAL
Inventor： Clément GOSSELIN , Kefei WEN , David HARTON , Thierry LALIBERTE
Abstract: A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.
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