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公开(公告)号：US20240227997A9
公开(公告)日：2024-07-11
申请号：US18278125
申请日：2022-03-23
发明人： Oscar CURET
IPC分类号： B63H1/37
CPC分类号： B63H1/37 , B63G2008/004
摘要： An apparatus and method for an unmanned underwater vehicle that utilizes at least one flexible robotic fin to provide a highly maneuverable vessel with station-keeping performance in tight spaces, close to ocean structures or missions where a low-speed or station-keeping vehicle is required. A propeller is also provided for providing the main propulsion during high-speed transition with assistance provided by the flexible robotic fin. The vehicle includes sonar and camera equipment as well as a plurality of other sensors for achieving navigation and communication functions while surveying the underwater marine environment. A system controller and motor controller are synchronized to provide deflection commands to ray elements in the flexible robotic fin to achieve particular maneuvers such as pitch, yaw, and roll in confined spaces. The commands are traveling waves that undulate the fin precisely and for station-keeping the commands are opposing wave commands that fix the vehicle at one position.
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2.发明授权公开(公告)号：US11031160B2
公开(公告)日：2021-06-08
申请号：US16477593
申请日：2017-12-22
发明人： Wenqi Hu , Guo Zhan Lum , Massimo Mastrangeli , Metin Sitti
摘要： The present invention relates to a method of actuating a shape changeable member of actuatable material. The invention further relates to a shape changeable member and to a system comprising such a shape changeable member and a magnetic field apparatus.
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公开(公告)号：US12116094B1
公开(公告)日：2024-10-15
申请号：US17568449
申请日：2022-01-04
CPC分类号： B63G8/001 , B29C33/005 , B29C33/42 , B29D99/0007 , B63G8/08 , B63H1/37 , B63G2008/002
摘要： An exemplary inventive molding device includes two mold components characterized by matching rounded-star shapes. Each mold component includes eight congruent rounded-tip projections and eight congruent apertured sections separated from each other by the projections and describing a ring shape. The projections correspond to the equiangular points of a star. Each section has a medial hole and is interposed between and connects two projections. The mold components are joined so that their respective projections and holes are even with each other and fasteners are installed through the holes. Appropriate introduction and curing of a castable material inside the joined mold components produces a flexible device suitable for use as part of a biomimicking soft robot.
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公开(公告)号：US10519926B2
公开(公告)日：2019-12-31
申请号：US16167293
申请日：2018-10-22
摘要： The TRAVELING WAVE PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. In a fluid medium, the traveling waves of sinusoidal deformations may exert force on the fluid causing the fluid to move and/or creating thrust. Arched blades affixed to the fins facilitate propulsion on hard surfaces such as ice.
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公开(公告)号：US07357684B2
公开(公告)日：2008-04-15
申请号：US11050594
申请日：2005-02-03
申请人： Carl Phillip Gusler
发明人： Carl Phillip Gusler
IPC分类号： B63H1/37
摘要： The invention comprises a method of using a scalable, configurable “propulsor” system to move and navigate a submersible device through a fluid medium. A propulsor system is an assembly of individual propulsors that act in concert to form a substantially continuous control surface that undulates in a working fluid. Each propulsor is driven and configured by computer-controlled actuators so that the control surface undulates in various wave forms. Optional actuators that may refine the surface shape include an “orientation” actuator that drives rotation about the propulsor's longitudinal axis, and a “geometry” actuator that controls each propulsor's geometric configuration.
摘要翻译： 本发明包括使用可伸缩的可配置的“推进器”系统通过流体介质移动和导航潜水装置的方法。 推进系统是单个推进器的组合，其一致地形成在工作流体中起伏的基本上连续的控制表面。 每个推进器由计算机控制的致动器驱动和配置，使得控制表面以各种波形波动。 可以细化表面形状的可选的致动器包括驱动围绕推进器的纵向轴线的旋转的“取向”致动器，以及控制每个推进器的几何构型的“几何”致动器。
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公开(公告)号：US11209022B2
公开(公告)日：2021-12-28
申请号：US16730649
申请日：2019-12-30
摘要： The VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. The fin, fin actuator or actuators, power source and central controller may be incorporated into a thrust module. Two thrust modules couple to each other via roll actuators and flexible coupling members may form a vehicle with exceptional maneuverability.
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公开(公告)号：US20150239539A1
公开(公告)日：2015-08-27
申请号：US14710706
申请日：2015-05-13
CPC分类号： B63H1/37 , B63H1/38 , B63H5/00 , Y10S901/01
摘要： A robotic mechanical fin, having a motor housing containing a plurality of rib rotation motors, rib spars, and a plurality of ribs, mechanically movable and communicatively coupled to the plurality of rib rotation motors and shafts, where the plurality of ribs are rotationally coupled to and actuated by the plurality of rib rotation motors and shafts. The mechanical fin further includes a flexible fin casing, within which the ribs reside, forming the complete actively controlled curvature robotic propulsion and steering apparatus. The mechanical fin is connected to a plurality of control electronics circuits and a computer processor programmed with actuation code that when executed by the computer processor causes automated actuation of simultaneous propulsion and steering maneuverability of the actively controlled curvature, robotic, mechanical fin.
摘要翻译： 一种机器人机械翅片，其具有容纳多个肋旋转马达，肋翼梁和多个肋的马达壳体，其机械可移动和通信地联接到多个肋旋转马达和轴，其中多个肋旋转地联接到 并由多个罗纹旋转马达和轴致动。 机械翅片还包括柔性翅片壳体，其中肋位于其中，形成完整的主动控制曲率机器人推进和转向装置。 机械翅片连接到多个控制电子电路和用致动代码编程的计算机处理器，当由计算机处理器执行时，该计算机处理器引起主动控制的曲率，机器人机械翅片的同时推进和转向操纵性的自动启动。
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公开(公告)号：US20060172629A1
公开(公告)日：2006-08-03
申请号：US11049897
申请日：2005-02-03
申请人： Carl Gusler
发明人： Carl Gusler
IPC分类号： B63H1/37
CPC分类号： B63H19/00 , B63G8/08 , F01D5/145 , Y02T50/673
摘要： The invention comprises a scalable, configurable “propulsor” system. A propulsor system is an assembly of individual propulsors that act in concert to form a substantially continuous control surface that undulates in a working fluid. Each propulsor is driven and configured by computer-controlled actuators so that the control surface undulates in various wave forms. Optional actuators that may refine the surface shape include an “orientation” actuator that drives rotation about the propulsor's longitudinal axis, and a “geometry” actuator that controls each propulsor's geometric configuration.
摘要翻译： 本发明包括可扩展的，可配置的“推进器”系统。 推进系统是单个推进器的组合，其一致地形成在工作流体中起伏的基本上连续的控制表面。 每个推进器由计算机控制的致动器驱动和配置，使得控制表面以各种波形波动。 可以细化表面形状的可选的致动器包括驱动围绕推进器的纵向轴线的旋转的“取向”致动器，以及控制每个推进器的几何构型的“几何”致动器。
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公开(公告)号：US5611666A
公开(公告)日：1997-03-18
申请号：US626566
申请日：1996-04-02
申请人： Ching Y. Au , Lawrence Au
发明人： Ching Y. Au , Lawrence Au
CPC分类号： B63H1/37
摘要： A fluid forcing device comprising many rotatable slender elements that converts mechanical energy into fluid energy by mechanically arranging and maintaining, at all times, the rotatable slender elements in a pre-determined wave form and by mechanically moving the wave form in a direction normal to the rotation of the elements.
摘要翻译： 流体强制装置包括许多可旋转的细长元件，其通过机械地以预定的波形机械地布置和维持可旋转的细长元件，并且通过以垂直于该方向的方向机械地移动波形而将机械能转换成流体能量 元素的旋转。
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公开(公告)号：US11718377B2
公开(公告)日：2023-08-08
申请号：US17222965
申请日：2021-04-05
摘要： A robotic eel may comprise a plurality of torque reaction engines, an inertial mass, and a fin. Each of the plurality of torque reaction engines oscillates an inertial mass about an axis, producing a torque reaction on and oscillation of an external shaft. Oscillation of the external shaft bends a beam of the robotic eel. Bending the beam of the robotic eel produces at least one of a traveling or a standing wave in the beam. The traveling wave may be communicated to a second torque reaction of the plurality of torque reaction engines and to the fin, producing thrust.
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