公开(公告)号：US5155423A

公开(公告)日：1992-10-13

申请号：US330391

申请日：1989-03-29

申请人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  John Bockhold ,  David Damico

发明人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  John Bockhold ,  David Damico

IPC分类号： B25J9/04 ,  B25J9/08 ,  B25J9/10 ,  B25J9/16 ,  B25J17/02

CPC分类号： B25J9/1633 ,  B25J17/02 ,  B25J17/0241 ,  B25J9/04 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1643 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292

摘要： A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

摘要翻译： 数字控制的工业机器人包括一组组合和集成的联合驱动模块，其可以串联组装以形成臂。 接头有两种基本类型，俯仰接头和滚动接头，其中辊接头提供围绕机械手的纵向轴线的旋转，并且俯仰接头提供围绕基本上垂直于辊接头轴线并偏离辊接头轴线的轴线的旋转。 可以组装任何数量的接头以包括操纵器，允许配置运动学上冗余的操纵器。 伺服控制从感测驱动部件上的动力导出反馈信号并相应地补偿驱动信号。 更具体地，测量施加在每个辊和沥青接头上的扭矩并用于反馈以为伺服机构提供稳定性和最佳带宽。

公开(公告)号：US4973215A

公开(公告)日：1990-11-27

申请号：US310511

申请日：1989-02-14

申请人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  David A. Damico ,  Paul H. Eismann

发明人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  David A. Damico ,  Paul H. Eismann

IPC分类号： B25J9/04 ,  B25J9/08 ,  B25J9/10 ,  B25J9/16 ,  B25J17/02

CPC分类号： B25J9/046 ,  B25J17/02 ,  B25J17/0241 ,  B25J9/04 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1633 ,  B25J9/1643 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292 ,  Y10T74/20207

摘要： A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

公开(公告)号：US5581166A

公开(公告)日：1996-12-03

申请号：US414035

申请日：1995-03-30

申请人： Paul H. Eismann ,  Jack M. Thompson, Jr.

发明人： Paul H. Eismann ,  Jack M. Thompson, Jr.

IPC分类号： B25J9/04 ,  B25J9/08 ,  B25J9/10 ,  B25J9/16 ,  B25J17/02 ,  G05B19/408

CPC分类号： B25J9/046 ,  B25J17/02 ,  B25J17/0241 ,  B25J9/04 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1633 ,  B25J9/1643 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292 ,  Y10T74/20207

摘要： In a device having a first member and a second member which are driven relative to one another by an actuator, a servocontrol derives feedback by sensing the torque applied on one of the members by the actuator. The actuator drive signal is modified by a compensation network in response to the torque measurement to provide stability across a bandwidth extending beyond the resonant frequency of the members, thereby providing smooth, accurate and precise motion.

摘要翻译： 在具有通过致动器相对于彼此驱动的第一构件和第二构件的装置中，伺服控制通过感测由致动器施加在其中一个构件上的扭矩而导出反馈​​。 响应于扭矩测量，致动器驱动信号被补偿网络修改，以提供跨越部件的谐振频率以上的带宽的稳定性，从而提供平滑，准确和精确的运动。

公开(公告)号：US4446742A

公开(公告)日：1984-05-08

申请号：US339845

申请日：1982-01-18

申请人： Jack M. Thompson, Jr. ,  Theodore H. Leist, Jr.

发明人： Jack M. Thompson, Jr. ,  Theodore H. Leist, Jr.

IPC分类号： B06B1/10 ,  B06B1/18 ,  G01M7/06

CPC分类号： B06B1/18 ,  B06B1/10 ,  G01M7/06

摘要： A seismic testing apparatus is provided in which linear motion or excitation of a horizontally disposed table is achieved simultaneously along three mutually orthogonal axes by means of independently operable hydraulic-actuator assemblies. Rotational or torsional motion of the table about the linear excitation axes is resisted by separate, mechanical rotation-inhibiting means each consisting of a torsionally rigid structure disposed parallel to the table and perpendicularly to their respective associated axes of excitation. The torsionally rigid structures are each connected to the table at two spaced-apart points, with all four points of connection lying in the same plane.

摘要翻译： 提供了一种地震测试装置，其中通过独立可操作的液压致动器组件，沿着三个相互正交的轴同时实现水平布置的工作台的直线运动或激励。 通过单独的机械旋转抑制装置阻止工作台围绕线性激励轴的旋转或扭转运动，每个机械旋转抑制装置由平行于工作台并垂直于它们相应的相关联的激励轴设置的扭转刚性结构组成。 扭转刚性结构各自在两个间隔开的点处连接到工作台，所有四个连接点位于同一平面内。