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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：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：US08392036B2
公开(公告)日：2013-03-05
申请号：US12350693
申请日：2009-01-08
IPC分类号： G05B11/00
CPC分类号： G05D1/0044
摘要： A remote operator console provides point and go navigation of a robotic vehicle. The remote operator console provides a display for visual representation of the environment in which the robotic vehicle is operating based on sensor information received from the robotic vehicle. An operator may designate a target point on the display. The robotic vehicle is automatically navigated toward a location in the environment corresponding to the designated target point.
摘要翻译： 远程操作员控制台提供机器人车辆的点对点导航。 远程操作员控制台基于从机器人车辆接收的传感器信息提供用于可视化表示机器人车辆在其中操作的环境的显示器。 操作员可以在显示器上指定目标点。 机器人车辆自动导航到与指定的目标点相对应的环境中的位置。
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公开(公告)号：US20120138714A1
公开(公告)日：2012-06-07
申请号：US12959170
申请日：2010-12-02
CPC分类号： F23D11/32 , B05B5/0255 , Y10T29/494
摘要： An electro-spray delivery device for delivering a stream of charged micro-droplets of a conductive fluid, and which a capillary tube having a proximal end in fluid communication with a source of conductive fluid and a distal end opposite the proximal end. The device also includes a solid guide wire coaxially disposed at least partially within the capillary tube to form an annular passage therein, and which has a distal tip projecting beyond the distal end of the capillary tube. At least one of the capillary tube and guide wire is conductive and in electrical communication with a high-voltage source to electrically charge the conductive fluid flowing through the annular passage and wetting the distal tip of the guide wire. The electrospray delivery device further includes a grounding electrode that is located a predetermined distance from the distal tip of the guide wire and which is in electrical communication with a source of ground. A voltage differential between the charged fluid and the grounding electrode draws the charged fluid away from the distal end of the capillary tube to form a cone jet about the end face of the distal tip discharging a stream of charged micro-droplets.
摘要翻译： 一种用于传送导电流体的带电微滴流的电喷射递送装置，其中毛细管具有与导电流体源流体连通的近端和与近端相对的远端。 该装置还包括同轴地设置在毛细管内的实心导丝，以在其中形成环形通道，并且具有突出超出毛细管远端的远端尖端。 毛细管和导丝中的至少一个是导电的并且与高压源电连通以对流过环形通道的导电流体进行电荷并润湿导丝的远端。 电喷雾输送装置还包括接地电极，该接地电极位于与导丝的远端顶部预定距离处，并且与接地源电连通。 带电流体和接地电极之间的电压差使得带电流体远离毛细管的远端，以形成围绕远侧末端的端面排出带电微滴流的锥形射流。
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公开(公告)号：US20120138701A1
公开(公告)日：2012-06-07
申请号：US12959177
申请日：2010-12-02
IPC分类号： B05B5/025
CPC分类号： B05B5/025 , B05B5/0255
摘要： An electrospray dispensing system for delivering a controllable quantity of charged micro-droplets of a conductive fluid, and which includes an elongate fluid supply cylinder having a first end, a second end, a sidewall (e.g., forming a circular or other polygonal cross-section) between the first and second ends, and an interior hollow that is in fluid communication with a source of conductive fluid. The dispensing system also includes an array of selectively-activated capillary tubes having proximal ends that are in fluid communication with the interior hollow and distal ends extending radially outward through the sidewall, and which are configured so that any conductive fluid flowing outwardly through one or more activated capillary tubes is electrically-charged. The dispensing system further includes a grounding electrode that is in electrical communication with a source of ground and located at a predetermined distance from the distal ends of the capillary tubes, so that an electric potential between the charged conductive fluid and the grounding electrode will cause each of the activated capillary tubes to form a cone jet which projects a stream of charged micro-droplets towards the grounding electrode.
摘要翻译： 一种电喷雾分配系统，用于传送可控量的导电流体的带电微滴，并且其包括细长的流体供应圆筒，其具有第一端，第二端，侧壁（例如，形成圆形或其它多边形横截面 ）和与导电流体源流体连通的内部中空部分。 分配系统还包括选择性激活的毛细管阵列，其具有与内部中空和远端流体连通的近端，所述远端通过侧壁径向向外延伸，并且被配置为使得任何导电流体向外流过一个或多个 活化的毛细管是带电的。 分配系统还包括接地电极，其与地源电连通并且位于与毛细管的远端预定距离处，使得带电导电流体和接地电极之间的电位将导致每个 的活化毛细管以形成锥形射流，其将带电微滴流投射到接地电极。
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8.发明申请Target-Specific Fire Fighting Device For Launching A Liquid Charge At A Fire 审中-公开目标消防装置，用于在火灾时发射液体公开(公告)号：US20100314139A1
公开(公告)日：2010-12-16
申请号：US12814435
申请日：2010-06-11
IPC分类号： A62C3/00
摘要： The present invention relates to a single-target-specific fire fighting device for launching a liquid charge towards a localized target portion of a fire. The firefighting device is capable of highly precise target engagement at a single, localized area. In this manner, the fire fighting device can launch a single liquid charge effectively to a target location within a fire, such as the seat of a fire, in order to effectively extinguish the fire. The firefighting device includes at least a liquid charge having a flight integrity component, a barrel, a sighting structure coupled to the barrel, and a launching system for launching the liquid charge down the barrel at a target location.
摘要翻译： 本发明涉及一种用于向火的局部目标部分发射液体电荷的单目标专用消防装置。 消防装置能够在单个局部区域进行高精度的目标接合。 以这种方式，消防装置可以有效地将火焰中的目标位置（例如火灾的座位）发射单个液体充气，以有效地扑灭火灾。 消防装置至少包括具有飞行完整性部件的液体装料，桶，耦合到筒的瞄准结构，以及用于在目标位置将液体充注在筒体上的发射系统。
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公开(公告)号：US09789603B2
公开(公告)日：2017-10-17
申请号：US13332165
申请日：2011-12-20
申请人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, Jr. , Wayco Scroggin , Marc X. Olivier
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, Jr. , Wayco Scroggin , Marc X. Olivier
CPC分类号： B25J3/04 , B25J5/005 , B25J13/025
摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
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10.发明授权公开(公告)号：US08942846B2
公开(公告)日：2015-01-27
申请号：US13332152
申请日：2011-12-20
CPC分类号： B25J3/04 , B25J5/005 , B25J9/0084 , B25J9/1689 , B25J13/025 , B66C1/425 , B66C13/44
摘要： A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
摘要翻译： 公开了一种用于控制远程操作的机器人敏捷升降系统的方法。 该方法包括操纵位于移动平台上的主机器人的人机界面。 人机界面在运动上相当于具有多个支撑构件的使用者手臂。 测量每个支撑构件的位置值和扭矩值。 位置值和扭矩值被传递到运动学等效的从动臂的支撑构件，以将支撑构件定位成与人机界面的位置相对应。
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