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公开(公告)号：US20100201185A1
公开(公告)日：2010-08-12
申请号：US12765618
申请日：2010-04-22
IPC分类号： B62D55/14
CPC分类号： B62D55/14 , B62D55/0655 , B62D55/26 , B62D55/305
摘要： A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.
摘要翻译： 公开了一种用于轻型机器人履带的悬挂系统。 悬挂系统提供在其上安装柔性环形轨道。 该悬挂系统包括向前引导件和向后引导件，循环履带可围绕该引导件环绕。 位于前部导向件和后部导向件之间的偏转器向下偏转环形轨道的接地部分以形成峰值区域。 峰值区域可以支持轻量级的机器人车辆，其允许相对于支撑表面改变在环形轨道的地面接合部分上的负载分布。
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公开(公告)号：US08205695B2
公开(公告)日：2012-06-26
申请号：US12765618
申请日：2010-04-22
IPC分类号： B62D55/14 , B62D55/065
CPC分类号： B62D55/14 , B62D55/0655 , B62D55/26 , B62D55/305
摘要： A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.
摘要翻译： 公开了一种用于轻型机器人履带的悬挂系统。 悬挂系统提供在其上安装柔性环形轨道。 该悬挂系统包括向前引导件和向后引导件，循环履带可围绕该引导件环绕。 位于前部导向件和后部导向件之间的偏转器向下偏转环形轨道的接地部分以形成峰值区域。 峰值区域可以支持轻量级的机器人车辆，其允许相对于支撑表面改变在环形轨道的地面接合部分上的负载分布。
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公开(公告)号：US08002365B2
公开(公告)日：2011-08-23
申请号：US11985324
申请日：2007-11-13
IPC分类号： B62D55/14 , B62D55/065
CPC分类号： B62D55/14 , B62D55/0655 , B62D55/26 , B62D55/305
摘要： A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.
摘要翻译： 公开了一种用于轻型机器人履带的悬挂系统。 悬挂系统提供在其上安装柔性环形轨道。 该悬挂系统包括向前引导件和向后引导件，循环履带可围绕该引导件环绕。 位于前部导向件和后部导向件之间的偏转器向下偏转环形轨道的接地部分以形成峰值区域。 峰值区域可以支持轻量级的机器人车辆，其允许相对于支撑表面改变在环形轨道的地面接合部分上的负载分布。
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公开(公告)号：US20110213599A1
公开(公告)日：2011-09-01
申请号：US13061472
申请日：2009-08-28
IPC分类号： G06F17/50
CPC分类号： B25J9/0006 , A61H3/008 , B25J19/007
摘要： A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.
摘要翻译： 一种配置仿生机械接头的方法，用于支撑构件围绕枢轴装置的有效移动。 该方法包括提供第一分数致动器和第二分数致动器，其可与支撑构件和枢转装置一起操作，将第一分数执行器的尺寸调整为在第一边界条件下进行额定操作，以及调整第二分数执行器的尺寸，使得第一和第二 组合执行器在组合时被额定为在第二边界条件下操作。
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公开(公告)号：US08516918B2
公开(公告)日：2013-08-27
申请号：US13061482
申请日：2009-08-28
IPC分类号： B25J17/00
CPC分类号： A61F2/68 , A61F5/0102 , A61F2002/5093 , A61F2002/701 , A61F2002/704 , A61F2002/745 , A61F2002/747 , A61H1/0262 , A61H1/0266 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/1238 , A61H2201/14 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1676 , B25J9/0006 , B25J9/104 , Y10T74/20305 , Y10T74/20323 , Y10T74/20329
摘要： A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.
摘要翻译： 一种用于在仿生机器人装置的支撑构件之间产生可变扭矩的仿生机械接头，包括基部支撑构件，可旋转地联接到所述基部支撑构件的旋转支撑构件和可操作地联接在所述基部支撑构件和 旋转支撑构件。 可变半径滑轮包括具有可变半径的滑轮主体和形成在周向外表面中的一个或多个腱槽。 机械接头还包括一个或多个柔性腱和对抗性致动器对，其中每个致动器对联接到一个或多个腱并且构造成在任一方向上围绕可变匝角轮滑轮操作腱以在基部和 旋转支撑构件。
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公开(公告)号：US20110295164A1
公开(公告)日：2011-12-01
申请号：US13061488
申请日：2009-08-28
IPC分类号： A61H1/02
CPC分类号： B25J9/0006 , A61F2/68 , A61F2002/5093 , A61F2002/701 , A61F2002/704 , A61F2002/74 , A61F2002/748 , A61F2002/7635 , A61H3/008
摘要： A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings. The method of the present invention allows for selection from the available actuator arrangements and throttle settings according to predetermined operating modes such as high-efficiency, high-acceleration or general-purpose, etc.
摘要翻译： 一种操作仿生机械接头的方法，所述仿生机械接头具有多个分数致动器，所述致动器构造成用于围绕枢轴装置旋转支撑构件。 在操作期间，可以单独地或一起地选择性地招募分数致动器，以在整个运动范围和各种负载条件下有效地使支撑构件围绕机械接头旋转。 每个分数执行器都可以连续节流，以降低执行器运行的速度或转矩。 选择性地招募和节流每个分数执行器的能力导致具有两个自由度的致动器系统，其中可以用一个或多个致动器装置和节流设置来达到机械接头的单个操作状态。 本发明的方法允许根据诸如高效率，高加速度或通用等的预定操作模式从可用的致动器装置和节气门设置中进行选择。
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公开(公告)号：US5936411A
公开(公告)日：1999-08-10
申请号：US980325
申请日：1997-11-28
CPC分类号： G01B7/16 , G01D5/2412
摘要： A method and apparatus for measuring displacement of one location of a structure, relative to another, spaced apart location. The apparatus includes a first array of conductive elements disposed on the structure and attached at said one location; a second array of conductive elements disposed on the structure adjacent the first array and attached at said other, spaced-apart location such that displacement of said one location with respect to said other, spaced-apart location can be measured by measuring the first array position with respect to the second array position; a source for supplying an electric current to the first and the second array of conductive elements to develop a unique charge between each conductive element of the first array and each respective conductive element of the second array, wherein the unique charge that is stored between each pair of conductive elements changes when the relative position of the first array changes with respect to the second array and the change in charges corresponds to the displacement of the one location with respect to the other, spaced apart location.
摘要翻译： 一种用于测量结构的一个位置相对于另一间隔开的位置的位移的方法和装置。 该装置包括设置在结构上并附接在所述一个位置处的第一导电元件阵列; 第二阵列的导电元件布置在与第一阵列相邻的结构上，并附接在所述另一个间隔开的位置，使得所述一个位置相对于所述另一间隔开的位置的位移可以通过测量第一阵列位置 相对于第二阵列位置; 用于向第一和第二导电元件阵列提供电流以在第一阵列的每个导电元件和第二阵列的每个相应导电元件之间形成唯一电荷的源，其中存储在每对之间的唯一电荷 当第一阵列的相对位置相对于第二阵列改变时，导电元件的变化改变，并且电荷变化对应于一个位置相对于另一间隔开的位置的位移。
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公开(公告)号：US08731716B2
公开(公告)日：2014-05-20
申请号：US13061488
申请日：2009-08-28
CPC分类号： B25J9/0006 , A61F2/68 , A61F2002/5093 , A61F2002/701 , A61F2002/704 , A61F2002/74 , A61F2002/748 , A61F2002/7635 , A61H3/008
摘要： A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings. The method of the present invention allows for selection from the available actuator arrangements and throttle settings according to predetermined operating modes such as high-efficiency, high-acceleration or general-purpose, etc.
摘要翻译： 一种操作仿生机械接头的方法，所述仿生机械接头具有多个分数致动器，所述致动器构造成用于围绕枢轴装置旋转支撑构件。 在操作期间，可以单独地或一起地选择性地招募分数致动器，以在整个运动范围和各种负载条件下有效地使支撑构件围绕机械接头旋转。 每个分数执行器都可以连续节流，以降低执行器运行的速度或转矩。 选择性地招募和节流每个分数执行器的能力导致具有两个自由度的致动器系统，其中可以用一个或多个致动器装置和节流设置来达到机械接头的单个操作状态。 本发明的方法允许根据诸如高效率，高加速度或通用等的预定操作模式从可用的致动器装置和节气门设置中进行选择。
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公开(公告)号：US20110214524A1
公开(公告)日：2011-09-08
申请号：US13061482
申请日：2009-08-28
IPC分类号： B25J17/00
CPC分类号： A61F2/68 , A61F5/0102 , A61F2002/5093 , A61F2002/701 , A61F2002/704 , A61F2002/745 , A61F2002/747 , A61H1/0262 , A61H1/0266 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/1238 , A61H2201/14 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1676 , B25J9/0006 , B25J9/104 , Y10T74/20305 , Y10T74/20323 , Y10T74/20329
摘要： A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.
摘要翻译： 一种用于在仿生机器人装置的支撑构件之间产生可变扭矩的仿生机械接头，包括基部支撑构件，可旋转地联接到所述基部支撑构件的旋转支撑构件和可操作地联接在所述基部支撑构件和 旋转支撑构件。 可变半径滑轮包括具有可变半径的滑轮主体和形成在周向外表面中的一个或多个腱槽。 机械接头还包括一个或多个柔性腱和对抗性致动器对，其中每个致动器对联接到一个或多个腱并且构造成在任一方向上围绕可变匝角轮滑轮操作腱以在基部和 旋转支撑构件。
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10.发明授权
公开(公告)号：US5662294A
公开(公告)日：1997-09-02
申请号：US559860
申请日：1995-11-20
CPC分类号： B63H25/382 , B63B1/28 , B63G8/18 , B64C3/48 , B63B2231/28 , C08L2201/12
摘要： A pliant, controllable contour control surface comprising a first flexible facesheet formed to a first initial contour of the control surface, and a second flexible facesheet formed to a second initial contour of the control surface. The first and second facesheets each have a set of prestrained shape memory alloy tendons embedded therein, extending from a leading edge to a trailing edge of the control surface. Each set of the shape memory alloy tendons is separately connected to a controlled source of electrical current such that tendons of the first and second flexible facesheets can be selectively heated in an antagonistic, slack-free relationship, to bring about a desired modification of the configuration of the control surface. A computer based control system is utilized for maintaining a constant temperature of the antagonists to establish conditions conducive to the stress induced transformation from austenite to martensite, accomplished by causing constant current to flow through the antagonists. Proportional/integral (PI) control is utilized in connection with the opposing shape memory tendons.
摘要翻译： 一种柔顺的可控轮廓控制表面，包括形成为控制表面的第一初始轮廓的第一柔性面板和形成为控制表面的第二初始轮廓的第二柔性面板。 第一和第二面板各自具有嵌入其中的一组预制形状记忆合金筋，从控制表面的前缘延伸到后缘。 每组形状记忆合金钢筋分别连接到受控的电流源，使得第一和第二柔性面板的钢筋可以以对抗，无松弛的关系选择性地加热，从而实现所需配置的修改 的控制面。 使用基于计算机的控制系统来维持拮抗剂的恒定温度以建立有助于通过使恒定电流流过拮抗剂从奥氏体向马氏体的应力诱导的转变的条件。 比例/积分（PI）控制与相对的形状记忆肌腱结合使用。
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