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    Articulated multi-link robotic tail systems and methods
    1.
    发明授权
    Articulated multi-link robotic tail systems and methods 有权

    公开(公告)号：US12122047B2

    公开(公告)日：2024-10-22

    申请号：US17697353

    申请日：2022-03-17

    Applicant: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.

    Inventor： Pinhas Ben-Tzvi ,  Wael Saab ,  William Rone ,  Yujiong Liu

    IPC: B25J9/06 ,  B25J9/04 ,  B25J9/08 ,  B25J17/02

    CPC classification number: B25J9/06 ,  B25J9/042 ,  B25J9/08 ,  B25J17/0241

    Abstract: An articulated multi-link robotic tail (MLRT) system is provided comprising a rigid housing, an actuation unit coupled to the rigid housing, and an MLRT having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end. The MLRT comprises N segments, where N is a positive integer that is greater than or equal to one. Each segment comprises i links, where i is a positive integer that is greater than or equal to two. Each link is mechanically coupled to an actuator of the actuation unit and capable of being actuated by the actuator to which it is mechanically coupled to adjust a pitch, yaw and roll of the MLRT. The articulated MLRT system is well suited for being integrated with a mobile robot to assist in stabilizing and maneuvering the mobile robot.

    ARTICULATED MULTI-LINK ROBOTIC TAIL SYSTEMS AND METHODS
    2.
    发明申请
    ARTICULATED MULTI-LINK ROBOTIC TAIL SYSTEMS AND METHODS 有权

    公开(公告)号：US20220203518A1

    公开(公告)日：2022-06-30

    申请号：US17697353

    申请日：2022-03-17

    Applicant: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.

    Inventor： Pinhas Ben-Tzvi ,  Wael Saab ,  William Rone ,  Yujiong Liu

    IPC: B25J9/06 ,  B25J9/08 ,  B25J17/02 ,  B25J9/04

    Abstract: An articulated multi-link robotic tail (MLRT) system is provided comprising a rigid housing, an actuation unit coupled to the rigid housing, and an MLRT having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end. The MLRT comprises N segments, where N is a positive integer that is greater than or equal to one. Each segment comprises i links, where i is a positive integer that is greater than or equal to two. Each link is mechanically coupled to an actuator of the actuation unit and capable of being actuated by the actuator to which it is mechanically coupled to adjust a pitch, yaw and roll of the MLRT. The articulated MLRT system is well suited for being integrated with a mobile robot to assist in stabilizing and maneuvering the mobile robot.

    High-speed omnidirectional underwater propulsion mechanism
    7.
    发明授权
    High-speed omnidirectional underwater propulsion mechanism 有权

    公开(公告)号：US12065227B2

    公开(公告)日：2024-08-20

    申请号：US17531007

    申请日：2021-11-19

    Applicant: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.

    Inventor： Taylor Njaka ,  Pinhas Ben-Tzvi ,  Stefano Brizzolara

    IPC: B63H1/26 ,  B63B39/00 ,  B63H21/21

    CPC classification number: B63H1/26 ,  B63B39/00 ,  B63H21/21 ,  B63H2021/216

    Abstract: Various examples of a high-speed omnidirectional fully-actuated underwater propulsion mechanism are described. In one example, a propulsion system includes two decoupled counter-rotating rotors centered on a main axis, with each rotor comprising a plurality of pivotable blades projecting radially from the main axis, a servo-swashplate actuation mechanism comprising a plurality of servos and a linkage assembly connected from the servos to the pivotable blades, a blade-axis re-enforcing flap adapter comprising a plurality of stationary flaps, with the blade-axis re-enforcing flap adapter being positioned in a region between the two decoupled counter-rotating rotors centered on the main axis, and a controller. The controller can be configured to calculate control parameters, compensate a first control parameter among the control parameters to reduce cross-coupling of an unwanted force generated by drag forces on the two decoupled counter-rotating rotors, and generate a control signal for each of the servos based on the control parameters.

    HIGH-SPEED OMNIDIRECTIONAL UNDERWATER PROPULSION MECHANISM
    8.
    发明申请
    HIGH-SPEED OMNIDIRECTIONAL UNDERWATER PROPULSION MECHANISM 有权

    公开(公告)号：US20220388617A1

    公开(公告)日：2022-12-08

    申请号：US17531007

    申请日：2021-11-19

    Applicant: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.

    Inventor： Taylor Njaka ,  Pinhas Ben-Tzvi ,  Stefano Brizzolara

    IPC: B63H1/26 ,  B63H21/21 ,  B63B39/00

    Abstract: Various examples of a high-speed omnidirectional fully-actuated underwater propulsion mechanism are described. In one example, a propulsion system includes two decoupled counter-rotating rotors centered on a main axis, with each rotor comprising a plurality of pivotable blades projecting radially from the main axis, a servo-swashplate actuation mechanism comprising a plurality of servos and a linkage assembly connected from the servos to the pivotable blades, a blade-axis re-enforcing flap adapter comprising a plurality of stationary flaps, with the blade-axis re-enforcing flap adapter being positioned in a region between the two decoupled counter-rotating rotors centered on the main axis, and a controller. The controller can be configured to calculate control parameters, compensate a first control parameter among the control parameters to reduce cross-coupling of an unwanted force generated by drag forces on the two decoupled counter-rotating rotors, and generate a control signal for each of the servos based on the control parameters.

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