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1. 发明申请

US20180233060A1 MOTION SIMULATOR 审中-公开
公开(公告)号：US20180233060A1
公开(公告)日：2018-08-16
申请号：US15951504
申请日：2018-04-12
申请人： MOOG BV
发明人： Jean Paul WARMERDAM
IPC分类号： G09B9/00 , G09B9/12 , G09B9/14 , G09B9/02
CPC分类号： G09B9/00 , G05B2219/50162 , G09B9/02 , G09B9/12 , G09B9/14
摘要： A motion simulator is constructed from a base driving an intermediate member via a 6 DOF hexapod, and a platform driven by a 2DOF simulator is provided on the intermediate member to supplement pitch and roll.

2. 发明授权

US07212945B2 Method for determining actual states of a number of adjusting elements 失效
标题翻译：用于确定多个调节元件的实际状态的方法
公开(公告)号：US07212945B2
公开(公告)日：2007-05-01
申请号：US10877385
申请日：2004-06-25
申请人： Thomas Puchtler
发明人： Thomas Puchtler
IPC分类号： G06F15/00
CPC分类号： G05B19/401 , B25J9/1623 , G05B2219/39052 , G05B2219/50162
摘要： The present invention is directed to a method for determining actual states of a number of adjusting elements. A position of an additional member relative to a basic member can be set by means of a number of adjusting elements. In order to determine the actual states of the adjusting elements, the additional member is firstly fixed mechanically relative to the basic member in such a way that it has only one degree of freedom. It is then possible to describe the position of the additional member relative to the basic member by means of a single scalar variable. The position of the additional member is then changed. Changes in state effected by the change in position of the additional member are detected, and the actual states of the adjusting elements are determined therefrom.
摘要翻译：本发明涉及一种用于确定多个调节元件的实际状态的方法。附加构件相对于基本构件的位置可以通过多个调节元件来设定。为了确定调整元件的实际状态，附加构件首先以相对于基本构件机械地固定，使得它仅具有一个自由度。然后可以借助于单个标量变量来描述附加构件相对于基本构件的位置。然后更改附加成员的位置。检测由附加构件的位置变化影响的状态的变化，并且由此确定调节元件的实际状态。

3. 发明授权

US07129665B2 Control apparatus for feed driving system 有权
标题翻译：饲料驱动系统控制装置
公开(公告)号：US07129665B2
公开(公告)日：2006-10-31
申请号：US11028362
申请日：2005-01-03
申请人： Tomoharu Ando
发明人： Tomoharu Ando
IPC分类号： G05B19/25
CPC分类号： G05B19/253 , G05B2219/41006 , G05B2219/41024 , G05B2219/42073 , G05B2219/50162
摘要： A control apparatus for a machine that can be operated at high precision in a stable control state is provided by driving a movable body with control parameters suited to the mechanical state. A control parameter calculation circuit is provided to obtain control parameters for a drive apparatus control circuit for driving actuators in accordance with the conditions of actuator rotational velocity, the orientation of the movable body, and the position of the movable body, and a control parameter K for the drive apparatus control circuit is varied.
摘要翻译：通过用适于机械状态的控制参数驱动可移动体来提供可在稳定的控制状态下以高精度操作的机器的控制装置。提供控制参数计算电路，以根据致动器旋转速度的条件，可移动体的取向和可移动体的位置来获得用于驱动致动器的驱动装置控制电路的控制参数，以及控制参数K 驱动装置控制电路变化。

4. 发明授权

US11854435B2 Device for making the electrical movements of moving platforms for simulators safer 有权
公开(公告)号：US11854435B2
公开(公告)日：2023-12-26
申请号：US16617857
申请日：2018-05-28
申请人： THALES
发明人： René Le Guillou , Maxime Bonnet
IPC分类号： G09B9/12 , B25J5/00 , B25J9/16 , B25J13/08 , B25J17/02 , F16H25/18 , H02K41/02
CPC分类号： G09B9/12 , B25J5/00 , B25J9/1623 , B25J13/085 , B25J17/0216 , B25J17/0266 , F16H25/18 , H02K41/02 , G05B2219/41309 , G05B2219/49257 , G05B2219/50162
摘要： A device that makes it possible to make the movements of moving platforms safer and relates more particularly to a linear actuator that can be used in a hexapod positioner supporting a load is provided. The actuator is actuated by electric control and comprises at least one hydraulic damper positioned on the actuator such that the forces generated by damping in the event of extreme breakdown are experienced only by the load and are distributed such as to limit force and acceleration peaks.

5. 发明申请

US20160139577A1 Method for determining a movement limit 审中-公开
标题翻译：确定移动限制的方法
公开(公告)号：US20160139577A1
公开(公告)日：2016-05-19
申请号：US14941731
申请日：2015-11-16
申请人： Deutsches Zentrum fuer Luft - und Ramfahrt e.V.
发明人： Carsten SEEHOF
IPC分类号： G05B17/02 , B25J9/00 , G01B21/04
CPC分类号： G05B17/02 , B25J9/0009 , B25J9/003 , B25J9/1615 , B25J9/1623 , G01B21/04 , G05B2219/39065 , G05B2219/49278 , G05B2219/50162 , G09B9/12
摘要： In a movement system, the movement limit is determined by having a degree of freedom of the movement system defined and the respective current movement system state being available. Subsequently, an articulation trajectory is determined for each upper articulation point of the movement system, on which articulation trajectory the articulation point can move along the degree of freedom. The movement limit is then derived by calculating the point of intersection of the actuator movement in an extreme deflection with its respective articulation trajectory.
摘要翻译：在移动系统中，通过限定移动系统的自由度和相应的当前运动系统状态可用来确定移动限制。随后，针对运动系统的每个上部关节点确定关节运动轨迹，铰接点可以沿着该自由度移动的关节运动轨迹。然后通过计算极端偏转中的致动器运动与其各自的关节轨迹的交点来导出移动极限。

6. 发明授权

US5787758A Three-axis machine for rapid and rigid manipulation of components 失效
标题翻译：三轴机器用于快速，刚性地操纵部件
公开(公告)号：US5787758A
公开(公告)日：1998-08-04
申请号：US707125
申请日：1996-09-03
申请人： Paul C. Sheldon
发明人： Paul C. Sheldon
IPC分类号： B23Q1/54 , B25J9/16 , B25J17/02 , B25C11/00 , B23C1/06
CPC分类号： B25J17/0266 , B23Q1/5462 , B25J9/0078 , B25J9/1623 , G05B2219/50162 , Y10S414/13 , Y10T408/91 , Y10T409/307672 , Y10T409/308512 , Y10T409/309576 , Y10T74/20341
摘要： A three-axis machine is disclosed. The machine includes a machine component to which a workpiece or tool can be attached. An actuator, such as three powered extensible legs, is connected between the machine component and a support structure. Three control arms also are connected between the machine component and the support structure. Preferably, each control arm is pivotably connected to the support structure and the machine component and includes a pair of four-bar linkages connected in series. The control arms are oriented to permit rapid movement of the machine component along any or all of the three linear axes, while restricting rotational movement of the machine component along the rotational axes.
摘要翻译：公开了一种三轴机器。该机器包括可附接工件或工具的机器部件。诸如三个动力可伸展腿的致动器连接在机器部件和支撑结构之间。三个控制臂也连接在机器部件和支撑结构之间。优选地，每个控制臂可枢转地连接到支撑结构和机器部件，并且包括串联连接的一对四杆连杆。控制臂被定向成允许机器部件沿着三个直线轴线中的任何一个或全部快速移动，同时限制机器部件沿旋转轴线的旋转运动。

7. 发明授权

US11673256B2 Coordinate positioning machine 有权
公开(公告)号：US11673256B2
公开(公告)日：2023-06-13
申请号：US17195158
申请日：2021-03-08
申请人： RENISHAW PLC
发明人： Stephen Mark Angood
IPC分类号： G01B5/008 , B25J9/02 , B25J9/00 , B25J9/16 , B25J17/02
CPC分类号： B25J9/023 , B25J9/0039 , B25J9/0057 , B25J9/1623 , B25J17/0216 , G01B5/008 , G05B2219/50162
摘要： A coordinate positioning machine that includes: a structure moveable within a working volume of the machine, a hexapod metrology arrangement for measuring the position of the structure within the working volume, and a non-hexapod drive arrangement for moving the structure around the working volume. Also, a coordinate positioning machine including a structure moveable within a working volume of the machine, a drive arrangement for moving the structure around the working volume in fewer than six degrees of freedom, and a metrology arrangement for measuring the position of the structure within the working volume in more degrees of freedom than the drive arrangement.

8. 发明申请

US20190118376A1 Parallel Mechanism Masticator and Chewing Apparatus 审中-公开
公开(公告)号：US20190118376A1
公开(公告)日：2019-04-25
申请号：US15790844
申请日：2017-10-23
申请人： Petru A. Simionescu
发明人： Petru A. Simionescu
IPC分类号： B25J9/16 , B23Q1/54 , A61C11/08 , G09B23/28 , B23Q3/18 , G05B19/4063
CPC分类号： B25J9/1623 , A61C11/02 , A61C11/081 , B23Q1/5437 , B23Q3/18 , G05B19/4063 , G05B2219/50162 , G09B23/283
摘要： The present invention is concerned with an apparatus for simulating the chewing process for the purpose of testing dental materials and implants and for the purpose of analyzing food samples. The apparatus comprises a frame, a stationary platform connected compliantly to the said frame and a moving platform corresponding to the maxillae and mandible of humans or animals, to which dentures or teeth are affixed. The moving platform is guided and driven in mandibular motion using six rods fitted with spherical joints at both ends. Said ball-jointed rods are attached with one end to the moving platform, and with the other end either to the frame of the apparatus, or to rotary cranks driven synchronously by a motor via a transmission. The rotary cranks together with their motor and transmission are mounted on a carrier which is adjustably attached to the frame of the apparatus. To closely reproduce a desired mandibular motion, the locations of the spherical joints to the frame, the position and orientation of the carrier relative to the frame, and the lengths of the rotary cranks and of the ball-jointed rods are suitably adjusted.

9. 发明申请

US20180081376A1 PARALLEL PLATFORM TRACKING CONTROL APPARATUS USING VISUAL DEVICE AS SENSOR AND CONTROL METHOD THEREOF 有权
公开(公告)号：US20180081376A1
公开(公告)日：2018-03-22
申请号：US15562898
申请日：2015-12-23
申请人： SOUTH CHINA UNIVERSITY OF TECHNOLOGY
发明人： Xianmin ZHANG , Jiasi MO , Zhicheng QIU , Junyang WEI , Hai LI
IPC分类号： G05D3/12 , G05B13/04 , H02K41/02 , G06T7/20
CPC分类号： G05D3/12 , B25J9/1623 , G05B13/04 , G05B19/404 , G05B2219/50162 , G06T7/20 , G06T2207/20004 , G06T2207/30204 , H02K41/02
摘要： A parallel platform tracking control apparatus and method using a visual device as a sensor are disclosed. The apparatus comprises a parallel platform body, a CCD camera (11), a lens (6), a camera light source (9), a computer (11), a Dspace semi-physical simulation controller, an ultrasonic motor driver and the like. The parallel platform comprises an ultrasonic linear motor (1), a linear grating encoder (5), a driven rod (2), a moving platform (3), a stationary platform (4) and the like. The CCD camera photographs the moving platform in a perpendicular and opposite manner, and the photographed images are subjected to an image processing algorithm to measure the position of the corresponding marker on the moving platform, which is not only applicable to measurement, but also implements real-time feedback of the termination position of the moving platform, such that a full closed-loop system is constituted. In this way, the parallel platform is precisely positioned.

10. 发明授权

US08442677B2 Verification system for robot pose 有权
标题翻译：机器人姿态验证系统
公开(公告)号：US08442677B2
公开(公告)日：2013-05-14
申请号：US10597673
申请日：2005-02-03
申请人： Moshe Shoham
发明人： Moshe Shoham
IPC分类号： G06F19/00
CPC分类号： G05B19/4062 , B25J9/1623 , B25J17/0266 , G05B2219/42318 , G05B2219/50162
摘要： An apparatus and method for assuring effective backup for sensor failure in robots, by utilizing a single extra sensor attached between the end actuator and the base. The single extra sensor provides absolute back-up for any single encoder failure that may occur in the system, and statistically significant back-up for any double encoder failure. A single additional sensor effectively provides the robotic system with one redundant information input to the robot control algorithm, which can be used in order to determine whether any of the other control sensors, or even the additional sensor itself, has failed and is delivering an erroneous reading, and hence to warn the operator of the failure. A single additional sensor also provides useful warning of the simultaneous failure of two sensors, since the likelihood that two sensors fail simultaneously in a mode that makes the failures undetectable, can be regarded as statistically insignificant.
摘要翻译：通过利用连接在端部致动器和基座之间的单个附加传感器来确保在机器人中传感器故障的有效备份的装置和方法。单个额外的传感器为系统中可能发生的任何单个编码器故障提供绝对备份，以及任何双编码器故障的统计上显着的备份。一个附加的传感器有效地为机器人系统提供了一个机器人控制算法的冗余信息输入，这可以用来确定其他控制传感器，甚至附加传感器本身是否有失败，并且传递错误阅读，从而警告操作者失败。一个额外的传感器还提供了两个传感器同时发生故障的有用警告，因为两个传感器同时处于故障模式不可检测的可能性可以被认为是统计学上无关紧要的。

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