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    Actuator driving device
    2.
    发明授权
    Actuator driving device 有权
    执行器驱动装置

    公开(公告)号：US07823383B2

    公开(公告)日：2010-11-02

    申请号：US11724348

    申请日：2007-03-15

    申请人： Atsuhiro Noda ,  Shigeru Wada

    发明人： Atsuhiro Noda ,  Shigeru Wada

    IPC分类号： F01B29/10 ,  F02G1/04 ,  H03K3/017 ,  H03K5/04 ,  H03K7/08 ,  H03K5/02 ,  H03K7/02 ,  G03B17/00

    CPC分类号： F03G7/065 ,  G05B2219/41342

    摘要： An actuator driving device includes: an actuator made of a shape metal alloy having a property that a predetermined shape is memorized in advance, and that the predetermined memorized shape is recovered when the actuator is heated to a predetermined temperature; an applier for applying, to the actuator, a pulse current or a pulse voltage at least having a predetermined current value or a predetermined voltage, and a predetermined duty ratio to heat the actuator; and a determiner for determining the current value or the voltage value, and the duty ratio of the pulse current or the pulse voltage to be applied to the actuator by the applier, wherein the determiner is operative to determine the pulse current or the pulse voltage having: the current value larger than a current value of a constant current required for displacing the actuator by a predetermined targeted displacement amount, or the voltage value corresponding thereto; and the duty ratio of making an applied current amount smaller than an applied current amount corresponding to an integrated value of the constant current in applying the constant current to the actuator.

    摘要翻译： 致动器驱动装置包括：由具有预先形成的特征的形状的金属合金构成的致动器，并且在将致动器加热到规定温度时恢复规定的记忆形状; 施加器，用于向致动器施加至少具有预定电流值或预定电压的脉冲电流或脉冲电压以及预定的占空比以加热致动器; 以及用于确定当前值或电压值的确定器以及由施加器施加到致动器的脉冲电流或脉冲电压的占空比，其中确定器用于确定脉冲电流或具有 ：电流值大于使致动器移动预定目标位移量或与其对应的电压值所需的恒定电流的当前值; 以及在将恒定电流施加到致动器时使施加电流量小于对应于恒定电流的积分值的施加电流量的占空比。

    Control mechanism with actuator employing shape memory alloy and method for adjusting servo control of the control mechanism
    3.
    发明申请
    Control mechanism with actuator employing shape memory alloy and method for adjusting servo control of the control mechanism 有权
    采用形状记忆合金的执行机构的控制机构及调整伺服控制机构的方法

    公开(公告)号：US20010025477A1

    公开(公告)日：2001-10-04

    申请号：US09814068

    申请日：2001-03-22

    发明人： Yoshihiro Hara ,  Junichi Tanii ,  Shigeru Wada ,  Akira Kosaka

    IPC分类号： F02C006/18

    CPC分类号： F03G7/065 ,  G05B2219/41342

    摘要： A controller in which an actuator has a shape memory alloy (SMA), for controlling a position of a member driven by the actuator. The controller includes the SMA, a spring coil connected to the SMA, an operation device for calculating a voltage to be supplied to the SMA on the basis of information upon a target position and an actual position of the member, a voltage supplying device for supplying the voltage to the shape memory alloy on a basis of a result of operation performed by the operation device, only when the member is moved in a direction in which the SMA returns to a predetermined length that is memorized by itself.

    摘要翻译： 一种控制器，其中致动器具有形状记忆合金（SMA），用于控制由致动器驱动的构件的位置。 控制器包括SMA，连接到SMA的弹簧线圈，用于基于目标位置和构件的实际位置的信息计算要供给到SMA的电压的操作装置，用于供应的电压供应装置 基于由操作装置执行的操作结果的形状记忆合金的电压，仅当该部件沿着SMA返回到其自身记忆的预定长度的方向移动时。

    Robotic arm systems
    4.
    发明授权
    Robotic arm systems 失效
    机器臂系统

    公开(公告)号：US4964062A

    公开(公告)日：1990-10-16

    申请号：US156388

    申请日：1988-02-16

    申请人： Shivadev K. Ubhayakar ,  Robert D. Baker

    发明人： Shivadev K. Ubhayakar ,  Robert D. Baker

    IPC分类号： B25J9/00 ,  B25J9/06 ,  B25J9/08 ,  B25J9/10 ,  B25J9/12 ,  B25J9/16 ,  B25J15/10 ,  B25J17/02 ,  B25J18/06 ,  B25J19/00 ,  G05B19/414

    CPC分类号： G05B19/4141 ,  B25J15/103 ,  B25J17/0266 ,  B25J18/06 ,  B25J19/0029 ,  B25J9/0084 ,  B25J9/06 ,  B25J9/08 ,  B25J9/1085 ,  B25J9/126 ,  B25J9/1625 ,  G05B2219/25353 ,  G05B2219/33002 ,  G05B2219/33204 ,  G05B2219/33207 ,  G05B2219/33338 ,  G05B2219/34236 ,  G05B2219/34488 ,  G05B2219/37572 ,  G05B2219/39549 ,  G05B2219/40195 ,  G05B2219/40234 ,  G05B2219/40303 ,  G05B2219/40304 ,  G05B2219/41342 ,  G05B2219/41352 ,  Y10S706/904

    摘要： A multisection flexible multidigit arm contains hands at each end, each of which hands contains a set of fingers, suitably three, which are similarly formed flexible multidigit arms constructed to a smaller scale. Each hand contains connectors for coupling the hand to a mating connector mounted on an associated structure to provide appropriate power and control signals to the arm. One hand may grip the connector and the other hand is free to move to various positions and perform various tasks. In an additional aspect the arm may move to different locations by somersaulting between spaced connectors in the system. In an assembly system the robotic arms are used to construct frames or other assemblies.A completely self contained arm includes a self contained source of power. Radio communication means are provided to allow electronic interaction with the arm from a remote location. In an additional aspect the self contained circuitry includes processor means programmed to control the arm to perform a certain task, relieving the operator at the remote location from specifying the details.Control signals to the sections of the arm in an additional aspect to the disclosed invention are provided by an electrical system that uses only a few wires by multiplexing the signals and the actuators, effectively "time sharing" the electrical leads between the large number of actuators.

    摘要翻译： 多段灵活的多数位臂在每个端部包含手，每个手中的每一只手包含一组合适的手指，合适的是三个，其类似地形成为更小规模构造的柔性多数位臂。 每只手包含用于将手连接到安装在相关结构上的配合连接器的连接器，以向臂提供适当的功率和控制信号。 一只手可以握住连接器，另一只手可以自由移动到各种位置并执行各种任务。 在另一方面，臂可以通过在系统中的间隔开的连接器之间翻转而移动到不同的位置。 在组装系统中，机械臂用于构造框架或其他组件。 一个完全自给自足的手臂包括一个独立的力量来源。 提供无线电通信装置以允许从远程位置与臂的电子交互。 在另一方面，自包含电路包括被编程为控制臂以执行某个任务的处理器装置，从而指示操作者在远程位置指定细节。 在所公开的发明的附加方面，对臂的各部分的控制信号由仅通过多路复用信号和致动器而仅使用几条电线的电气系统提供，有效地“共享”大量致动器之间的电引线 。

    ACTUATOR DRIVING DEVICE
    5.
    发明申请
    ACTUATOR DRIVING DEVICE 审中-公开
    执行器驱动装置

    公开(公告)号：US20110016860A1

    公开(公告)日：2011-01-27

    申请号：US12890124

    申请日：2010-09-24

    申请人： Atsuhiro Noda ,  Shigeru Wada

    发明人： Atsuhiro Noda ,  Shigeru Wada

    IPC分类号： F03G7/06

    CPC分类号： F03G7/065 ,  G05B2219/41342

    摘要： An actuator driving device includes: an actuator made of a shape metal alloy having a property that a predetermined shape is memorized in advance, and that the predetermined memorized shape is recovered when the actuator is heated to a predetermined temperature; an applier for applying, to the actuator, a pulse current or a pulse voltage at least having a predetermined current value or a predetermined voltage, and a predetermined duty ratio to heat the actuator; and a determiner for determining the current value or the voltage value, and the duty ratio of the pulse current or the pulse voltage to be applied to the actuator by the applier, wherein the determiner is operative to determine the pulse current or the pulse voltage having: the current value larger than a current value of a constant current required for displacing the actuator by a predetermined targeted displacement amount, or the voltage value corresponding thereto; and the duty ratio of making an applied current amount smaller than an applied current amount corresponding to an integrated value of the constant current in applying the constant current to the actuator.

    摘要翻译： 致动器驱动装置包括：由具有预先形成的特征的形状的金属合金构成的致动器，并且在将致动器加热到规定温度时恢复规定的记忆形状; 施加器，用于向致动器施加至少具有预定电流值或预定电压的脉冲电流或脉冲电压以及预定的占空比以加热致动器; 以及用于确定当前值或电压值的确定器以及由施加器施加到致动器的脉冲电流或脉冲电压的占空比，其中确定器用于确定脉冲电流或具有 ：电流值大于使致动器移动预定目标位移量或与其对应的电压值所需的恒定电流的当前值; 以及在将恒定电流施加到致动器时使施加电流量小于对应于恒定电流的积分值的施加电流量的占空比。

    Control mechanism with actuator employing shape memory alloy and method for adjusting servo control of the control mechanism
    6.
    发明授权
    Control mechanism with actuator employing shape memory alloy and method for adjusting servo control of the control mechanism 有权
    采用形状记忆合金的执行机构的控制机构及调整伺服控制机构的方法

    公开(公告)号：US06434932B2

    公开(公告)日：2002-08-20

    申请号：US09814068

    申请日：2001-03-22

    申请人： Yoshihiro Hara ,  Junichi Tanii ,  Shigeru Wada ,  Akira Kosaka

    发明人： Yoshihiro Hara ,  Junichi Tanii ,  Shigeru Wada ,  Akira Kosaka

    IPC分类号： F01B2910

    CPC分类号： F03G7/065 ,  G05B2219/41342

    摘要： A controller in which an actuator has a shape memory alloy (SMA), for controlling a position of a member driven by the actuator. The controller includes the SMA, a spring coil connected to the SMA, an operation device for calculating a voltage to be supplied to the SMA on the basis of information upon a target position and an actual position of the member, a voltage supplying device for supplying the voltage to the shape memory alloy on a basis of a result of operation performed by the operation device, only when the member is moved in a direction in which the SMA returns to a predetermined length that is memorized by itself.

    摘要翻译： 一种控制器，其中致动器具有形状记忆合金（SMA），用于控制由致动器驱动的构件的位置。 控制器包括SMA，连接到SMA的弹簧线圈，用于基于目标位置和构件的实际位置的信息计算要供给到SMA的电压的操作装置，用于供应的电压供应装置 基于由操作装置执行的操作结果的形状记忆合金的电压，仅当该部件沿着SMA返回到其自身记忆的预定长度的方向移动时。

    Actuator driving device
    8.
    发明申请
    Actuator driving device 有权
    执行器驱动装置

    公开(公告)号：US20070247101A1

    公开(公告)日：2007-10-25

    申请号：US11724348

    申请日：2007-03-15

    申请人： Atsuhiro Noda ,  Shigeru Wada

    发明人： Atsuhiro Noda ,  Shigeru Wada

    IPC分类号： B64C13/18 ,  G05D3/00

    CPC分类号： F03G7/065 ,  G05B2219/41342

    摘要： An actuator driving device includes: an actuator made of a shape metal alloy having a property that a predetermined shape is memorized in advance, and that the predetermined memorized shape is recovered when the actuator is heated to a predetermined temperature; an applier for applying, to the actuator, a pulse current or a pulse voltage at least having a predetermined current value or a predetermined voltage, and a predetermined duty ratio to heat the actuator; and a determiner for determining the current value or the voltage value, and the duty ratio of the pulse current or the pulse voltage to be applied to the actuator by the applier, wherein the determiner is operative to determine the pulse current or the pulse voltage having: the current value larger than a current value of a constant current required for displacing the actuator by a predetermined targeted displacement amount, or the voltage value corresponding thereto; and the duty ratio of making an applied current amount smaller than an applied current amount corresponding to an integrated value of the constant current in applying the constant current to the actuator.

    摘要翻译： 致动器驱动装置包括：由具有预先形成的特征的形状的金属合金构成的致动器，并且在将致动器加热到规定温度时恢复规定的记忆形状; 施加器，用于向致动器施加至少具有预定电流值或预定电压的脉冲电流或脉冲电压以及预定的占空比以加热致动器; 以及用于确定当前值或电压值的确定器以及由施加器施加到致动器的脉冲电流或脉冲电压的占空比，其中确定器用于确定脉冲电流或具有 ：电流值大于使致动器移动预定目标位移量或与其对应的电压值所需的恒定电流的当前值; 以及在将恒定电流施加到致动器时使施加电流量小于对应于恒定电流的积分值的施加电流量的占空比。

    High mechanical advantage ratcheting apparatus
    9.
    发明授权
    High mechanical advantage ratcheting apparatus 有权
    高机械优势棘轮机

    公开(公告)号：US06603281B2

    公开(公告)日：2003-08-05

    申请号：US09945004

    申请日：2001-08-31

    申请人： Mark H. Yim ,  David G. Duff

    发明人： Mark H. Yim ,  David G. Duff

    IPC分类号： G05B1101

    CPC分类号： B25J9/1625 ,  B25J9/08 ,  B25J9/1617 ,  G05B2219/39128 ,  G05B2219/40281 ,  G05B2219/40333 ,  G05B2219/41342

    摘要： A controllable ratcheting apparatus having robotic modules rigidly attached for operation near a mechanical singularity includes a plurality of modular joints and ratcheting means. Each one of the modular joints is capable of locking and unlocking to effect performance of a ratcheting motion as the ratcheting apparatus approaches a mechanical singularity. A plurality of links is connected to the modular joints in such a way as to permit movement of the links while under large external forces as the joint approaches a point of mechanical singularity. A control system directs movement of the modular joints and links.

    摘要翻译： 具有刚性地附接以用于在机械奇点附近操作的机器人模块的可控棘轮装置包括多个模块化接头和棘轮装置。 当棘轮装置接近机械奇点时，每个模块化关节能够锁定和解锁以实现棘轮运动的执行。 多个连杆以这样的方式连接到模块化接头，以便当接头接近机械奇异点时允许链条在大的外力作用下移动。 控制系统引导模块化接头和连杆的移动。