公开(公告)号：US5301566A

公开(公告)日：1994-04-12

申请号：US110181

申请日：1993-08-20

申请人： Farhad Tahmasebi ,  Lung-Wen Tsai

发明人： Farhad Tahmasebi ,  Lung-Wen Tsai

IPC分类号： B25J9/10 ,  B25J17/02 ,  G05G9/047 ,  G05G11/00 ,  B25J11/00

CPC分类号： G05G9/04737 ,  B25J17/0266 ,  B25J9/0036 ,  B25J9/0048 ,  B25J9/106 ,  Y10T74/20 ,  Y10T74/20305

摘要： A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.

摘要翻译： 描述了具有用于操纵平台的三个不可延伸的四肢的六自由度并联机械手，其中三个不可伸展的肢体通过万向接头以非共线点附接到平台。 每个不可伸展的肢体也通过万向接头连接到诸如五杆谱系，缩放仪或双向线性步进电机的两自由度并联驱动器。 司机将肢体的下端平行于固定的底座移动，从而提供对平台的操纵。 执行器安装在固定基座上，而不使用任何动力传动装置，如齿轮或皮带。

公开(公告)号：US5245263A

公开(公告)日：1993-09-14

申请号：US760014

申请日：1991-09-13

申请人： Lung-Wen Tsai ,  Sun-Lai Chang

发明人： Lung-Wen Tsai ,  Sun-Lai Chang

IPC分类号： B25J9/04 ,  B25J9/10 ,  B25J9/18

CPC分类号： B25J9/103 ,  B25J9/042

摘要： A new and innovative concept for the control of backlash in gear-coupled transmission mechanisms. The concept utilizes redundant unidirectional drives to assure positive coupling of gear meshes at all times. Based on this concept, a methodology for the enumeration of admissible redundant-drive backlash-free robotic mechanisms has been established. Some typical two- and three-DOF mechanisms are disclosed. Furthermore, actuator torques have been derived as functions of either joint torques or end-effector dynamic performance requirements. A redundantly driven gear coupled transmission mechanism manipulator has a fail-safe advantage in that, except of the loss of backlash control, it can continue to function when one of its actuators fails. A two-DOF backlash-free arm has been reduced to practice to demonstrate the principle.

摘要翻译： 齿轮传动机构中控制齿隙的新颖创新理念。 该概念采用冗余单向驱动器，以确保齿轮啮合始终保持正耦合。 基于这一概念，已经建立了一种列举可允许的冗余驱动无间隙机器人机制的方法。 公开了一些典型的二自由度和三自由度机制。 此外，作为关节转矩或端部执行器动态性能要求的函数，已经推导出执行器转矩。 冗余驱动的齿轮传动机构机构具有故障安全的优点，因为除了齿隙控制的损失之外，当其一个致动器失效时，它可以继续运行。 双自由度无间隙的手臂已经被减少到实践来演示原理。

公开(公告)号：US06837816B2

公开(公告)日：2005-01-04

申请号：US10361439

申请日：2003-02-10

申请人： Lung-Wen Tsai ,  Gregory A. Schultz

发明人： Lung-Wen Tsai ,  Gregory A. Schultz

IPC分类号： B60K6/365 ,  B60K6/48 ,  B60W10/02 ,  B60W10/08 ,  B60W10/10 ,  F16H3/72 ,  B62D11/00 ,  B62D11/02 ,  F16H37/06

CPC分类号： B60W10/02 ,  B60K6/365 ,  B60K6/48 ,  B60W10/08 ,  B60W10/10 ,  F16H3/725 ,  Y02T10/6221 ,  Y02T10/6247 ,  Y10S903/91 ,  Y10S903/945 ,  Y10S903/946

摘要： A motor-integrated transmission mechanism for use in parallel hybrid electric vehicles. The transmission can provide five basic modes of operation that can be further classified into sixteen sub-modes: one electric motor mode, four engine modes, four engine/charge modes, three power modes and four regenerative braking modes. Each of these sub-modes can be grouped into like clutching conditions, providing the functional appearance of a conventional 4-speed automatic transmission, with electric launch, engine-only, engine/charge, power-assist, and regeneration capability. CVT capability is provided with one of the engine/charge modes. The transmission can be incorporated in front-wheel drive and in rear-wheel drive vehicles.

摘要翻译： 一种用于并联混合动力电动车辆的电动机一体式变速机构。 传输可以提供五种基本的操作模式，可以进一步分为十六种子模式：一种电动机模式，四种发动机模式，四种发动机/充电模式，三种功率模式和四种再生制动模式。 这些子模式中的每一个可以分组成类似的离合条件，提供传统的4速自动变速器的功能外观，具有电动发射，仅发动机，发动机/充电，动力辅助和再生能力。 CVT功能具有发动机/充电模式之一。 变速器可以结合在前轮驱动和后轮驱动车辆中。

公开(公告)号：US06664126B1

公开(公告)日：2003-12-16

申请号：US10069616

申请日：2002-02-27

申请人： Donald Lad Devoe ,  Lung-Wen Tsai

发明人： Donald Lad Devoe ,  Lung-Wen Tsai

IPC分类号： H01L2100

CPC分类号： H01L21/00 ,  B81C99/002 ,  B81C2201/019 ,  Y10S977/889

摘要： This invention provides a fabrication process for manufacturing of truly 3-dimensional micromechanisms which takes advantages of SOI (silicon-on-insulator) wafers each of which is processed to create a respective structural element of the 3-dimensional micromechanisms by DRIE (deep reactive ion etching) of the wafer and thermal oxidation of the trenches opened during the DRIE etching. The wafers are sequentially bonded into a multistack structure from which the 3-D micromechanism. is released by XeF2 etching. Thermally grown SiO2 is used as structural material for the 3-D micromechanism.

摘要翻译： 本发明提供了一种用于制造真正的三维微机械的制造方法，其利用SOI（绝缘体上硅）晶片的优点，每个硅晶片被处理以通过DRIE（深反应离子）产生三维微机械的相应结构元件 蚀刻）和在DRIE蚀刻期间打开的沟槽的热氧化。 晶片顺序地结合到多层结构中，由此可以获得三维微机构。 由XeF2蚀刻释放。 热成长的SiO2用作3-D微机械的结构材料。

公开(公告)号：US5279176A

公开(公告)日：1994-01-18

申请号：US915567

申请日：1992-07-20

申请人： Farhad Tahmasebi ,  Lung-Wen Tsai

发明人： Farhad Tahmasebi ,  Lung-Wen Tsai

IPC分类号： B25J9/10 ,  B25J17/02 ,  G05G9/047 ,  G05G11/00 ,  B25J11/00

CPC分类号： G05G9/04737 ,  B25J17/0266 ,  B25J9/0036 ,  B25J9/0048 ,  B25J9/106 ,  Y10T74/20 ,  Y10T74/20305

摘要： A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.

摘要翻译： 描述了具有用于操纵平台的三个不可延伸的四肢的六自由度并联机械手，其中三个不可伸展的肢体通过万向接头以非共线点附接到平台。 每个不可伸展的肢体也通过万向接头连接到诸如五杆谱系，缩放仪或双向线性步进电机的两自由度并联驱动器。 司机将肢体的下端平行于固定的底座移动，从而提供对平台的操纵。 执行器安装在固定基座上，而不使用任何动力传动装置，如齿轮或皮带。

公开(公告)号：US4452592A

公开(公告)日：1984-06-05

申请号：US383472

申请日：1982-06-01

申请人： Lung-Wen Tsai

发明人： Lung-Wen Tsai

IPC分类号： F16D3/04

CPC分类号： F16D3/04 ,  Y10T74/2173 ,  Y10T74/2175

摘要： A hybrid straight and curved guide phase change coupling device in which end members rotatable on spaced parallel axes in opposed spaced relation are connected by an intermediate member having guide means constraining lateral motion of the intermediate member to a straight diametrical path with respect to one of the end members and to a curved path with respect to the other of the end members whereby a cyclic phase change or velocity ratio variation is provided during rotation of the two end members at identical overall cyclic speeds.

摘要翻译： 一种混合的直的和弯曲的导向相变联接装置，其中以间隔开的相互间隔开的平行轴线可旋转的端部构件通过中间构件连接，该中间构件具有将中间构件的横向运动限制在相对于其中的一个的直径路径的引导装置 并且相对于另一个端部构件弯曲的路径，由此在两个端部构件以相同的总循环速度旋转期间提供循环相位变化或速度比变化。

公开(公告)号：US06592484B1

公开(公告)日：2003-07-15

申请号：US09635315

申请日：2000-08-09

申请人： Lung-Wen Tsai ,  Gregory A. Schultz

发明人： Lung-Wen Tsai ,  Gregory A. Schultz

IPC分类号： H37

CPC分类号： B60W20/20 ,  B60K6/365 ,  B60K6/48 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W10/10 ,  B60W10/115 ,  B60W10/26 ,  B60W20/00 ,  F16H3/725 ,  Y02T10/6221 ,  Y10S903/91 ,  Y10S903/945 ,  Y10S903/946

摘要： Disclosed is a novel parallel hybrid transmission that transmits torque from two power sources to the drive wheels of a vehicle. The transmission functions with a single heat engine and a single electric motor/generator. Through the use of a compound planetary gear train and four automatically controlled clutches, the transmission is able to (i) sum torque from the two power sources to drive the vehicle; (ii) split torque from the heat engine to drive the vehicle and charge the batteries; (iii) transmit torque individually from either of the two power sources; and (iv) operate as a one- or two-degree-of-freedom mechanism. The configuration of clutches and the compound planetary gear train enable thirteen modes of operation, namely, one motor-only mode, three combined motor and engine modes, one continuous variable transmission/charging mode, four engine-only modes, and four regenerative braking modes. Because the design is based on conventional automatic transmission components, the design is simple, compact, efficient, and reliable.

摘要翻译： 公开了一种新颖的并联混合变速器，其将来自两个动力源的扭矩传递到车辆的驱动轮。 传动功能与单个发动机和单个电动机/发电机。 通过使用复合行星齿轮系和四个自动控制的离合器，传动装置能够（i）将来自两个动力源的扭矩相加以驱动车辆; （ii）从发动机分离扭矩以驱动车辆并对电池充电; （iii）从两个电源中的任一个单独地传递扭矩; （iv）作为一个或两个自由度的机制运作。 离合器和复合行星齿轮系的配置能够实现十三种运行模式，即一个电机模式，三组合电机和发动机模式，一个连续可变传动/充电模式，四个仅发动机模式和四个再生制动模式 。 由于设计基于传统的自动变速部件，设计简单，紧凑，高效，可靠。

公开(公告)号：US5656905A

公开(公告)日：1997-08-12

申请号：US415851

申请日：1995-04-03

申请人： Lung-Wen Tsai

发明人： Lung-Wen Tsai

IPC分类号： B23Q1/54 ,  B25J9/06 ,  B25J9/10 ,  B25J17/02 ,  B25J15/02

CPC分类号： B23Q1/5462 ,  B25J17/0266 ,  B25J9/06 ,  B25J9/1065 ,  Y10T409/307672 ,  Y10T409/308512 ,  Y10T409/309576 ,  Y10T74/20207

摘要： A new generation of hybrid form multi-axis machine tools is described. The hybrid machine tools comprise a position mechanism and an orientation mechanism. Both mechanisms are three-DOF parallel mechanisms that can be connected either in series to form a hybrid parallel-serial manipulator, or in parallel to form a cooperating machine. The position mechanism is used for manipulating the position and the orientation mechanism is used for manipulating the orientation of an object. Six-axes machining of a workpiece is achieved by coordinating the motions of the position and orientation mechanisms. This approach has several important advantages. First of all, a high stiffness, low inertia, and high speed machine tool is realized by using the parallel construction. Secondly, its direct and inverse kinematic solutions could be solved in closed forms which would greatly simplify the control and path planning problems. Thirdly, it has a relatively large workspace in comparison to fully parallel platform manipulators. Fourthly, its position and orientation are completely decoupled. Lastly, it utilizes mostly revolute joints which can be precisely made at low cost.

摘要翻译： 描述了新一代混合式多轴机床。 混合机床包括位置机构和定向机构。 这两种机制都是三自由度并联机构，可以串联连接，形成混合并联串联机械手，或并联连接，形成一个协作机器。 位置机构用于操纵位置，并且定向机构用于操纵物体的取向。 通过协调位置和定向机构的运动来实现工件的六轴加工。 这种方法有几个重要的优点。 首先，采用平行结构实现了高刚度，低惯性和高速机床。 其次，它的直接和反向运动解决方案可以以封闭形式解决，这将大大简化控制和路径规划问题。 第三，与完全平行的平台操纵器相比，它具有相对较大的工作空间。 第四，它的立场和方向是完全脱钩的。 最后，它主要利用可以低成本精确制作的旋转接头。

公开(公告)号：US4489683A

公开(公告)日：1984-12-25

申请号：US373350

申请日：1982-04-30

申请人： Lung-Wen Tsai ,  Thomas J. Johnson

发明人： Lung-Wen Tsai ,  Thomas J. Johnson

IPC分类号： F02B75/18 ,  F02B75/20 ,  F16F15/26

CPC分类号： F16F15/264 ,  F02B2075/1816 ,  F02B75/20 ,  Y10T74/2183 ,  Y10T74/2184

摘要： A crankshaft mounted secondary shaking force balancer for multicylinder engines and the like in which eccentrically rotating balance weights carried on the crankshaft and arranged for substantial primary balance are combined in oppositely rotating groups of weights driven by stationary ring or sun gears and associated planetary gears to provide coacting rotating forces that combine to apply directly to the crankshaft a secondary shaking force reciprocating at twice crankshaft speed and available to balance equivalent oppositely directed shaking forces developed by the crankshaft connected moving components of the engine.

摘要翻译： 用于多缸发动机等的曲轴安装的二次摇摆平衡器，其中承载在曲轴上并且布置成基本上主要平衡的偏心旋转平衡重的组合在由固定环或太阳齿轮和相关联的行星齿轮驱动的相反旋转组中，以提供 共同作用的旋转力组合以直接施加到曲轴上，具有以两倍的曲轴速度往复运动的二次摇摆，并且可用于平衡由曲轴连接的发动机的运动部件产生的等效的相反方向的震动力。

公开(公告)号：US4480607A

公开(公告)日：1984-11-06

申请号：US519018

申请日：1983-08-01

申请人： Lung-Wen Tsai ,  Robert L. Jacques

发明人： Lung-Wen Tsai ,  Robert L. Jacques

IPC分类号： F02B67/00 ,  F02B75/02 ,  F02B75/18 ,  F02B75/22 ,  F16F15/26

CPC分类号： F02B75/22 ,  F16F15/264 ,  F02B2075/027 ,  F02B2075/1824 ,  F02B67/00 ,  Y10T464/50 ,  Y10T74/2183 ,  Y10T74/2184

摘要： An even firing 90.degree. V6 four stroke cycle engine is provided with a single line balancer having a combination of primary balance weights and secondary Oldham coupling balancers rotating opposite crankshaft rotation which, combined with crankshaft counterweights, provide complete offsetting of the engine primary rotating unbalance couple together with offsetting of a large portion of the engine secondary rotating unbalance couple and leaving a small residual secondary unbalance couple for absorption by the engine mounting system.

摘要翻译： 一个均匀起火90°V6四冲程发动机配有一个单线平衡器，它具有主平衡重的组合以及与曲轴旋转相反的曲轴旋转的二次十字联轴器平衡器，与曲轴配重相结合，提供发动机初级旋转不平衡对的完全偏移 以及大部分发动机二次旋转不平衡联轴器的偏移，并留下少量残余的二次不平衡副，以供发动机安装系统吸收。