3results about How to "Increase workspace" patented technology

The application discloses a parallel RCM mechanism end effector for orthopedic surgery, which comprises two motors, three movement units, a double parallelogram linkage mechanism and a ball mill. The two motor axes are perpendicular and are installed on a base. The motor A is hingedly connected to the bottom end of the first movement unit; the motor B is hingedly connected to the bottom end of the second movement unit; the third movement unit is symmetrically arranged with the second movement unit and is hingedly connected to the base at the bottom end. The upper rod end of the double parallelogram linkage mechanism is hingedly connected to the top end of the second and third movement units through a rotating shaft; the lower rod end is hingedly connected to the three movement units through a rotating shaft. The upper rod and the lower rod are rotationally connected to the ball mill at the front ends. The double parallelogram linkage mechanism is used to make the center of the ball mill head coincide with the fixed point of the RCM mechanism, and the mechanism characteristic of the fixed point of the RCM mechanism is utilized. The fixed point is made to coincide with the ball center of the ball mill head, so that the position of the ball mill head is unchanged when the posture of the ball mill is changed, the posture of the ball mill does not affect the grinding process in the grinding process, the posture of the ball mill can be adjusted, the obstacle avoidance can be better realized, and the safety is improved.

This invention discloses a motion planning method for a seven-DOF robotic arm system, comprising a six-DOF robotic arm and a guide rail. The method first obtains key configuration parameters, dividing the system's revolution angle around a fixed point into n regions and establishing a one-to-one mapping with n predetermined positions on the guide rail. These parameters include the boundary angles of each region, the corresponding guide rail positions, and floating thresholds set for both to suppress fluctuations in region boundary identification caused by floating-point precision. Subsequently, the current revolution angle and guide rail position are identified to determine the target revolution angle. Based on the region numbering relationship between the current and target angles and the current guide rail position, a motion path is adaptively generated. This path is achieved through asynchronous coordination of the robotic arm joint motion and the guide rail linear motion, maintaining a constant end-effector posture throughout the process. This invention avoids real-time kinematics solving through discretization and parameter mapping, improving planning stability, system adaptability, and motion efficiency.

The application discloses a dynamic uniform three-dimensional magnetic field generating device and method, and belongs to the technical field of three-dimensional magnetic field construction. The application aims at the problem that the existing coaxial combined Halbach array method cannot generate a controllable dynamic uniform three-dimensional magnetic field. The device comprises a plurality of Halbach arrays, a transmission system, a driving system, a water cooling structure and an electromagnetic solenoid. The plurality of Halbach arrays are coaxially nested or symmetrically arranged along the axial direction. Each Halbach array is provided with a set of transmission system and driving system. The driving system drives the corresponding Halbach array to rotate through the transmission system. The electromagnetic solenoid is arranged in the plurality of Halbach arrays and coaxial with the plurality of Halbach arrays. The outer ring surface of the electromagnetic solenoid is provided with the water cooling structure. The application can improve the dynamic response frequency of the magnetic field generating device and has the dynamic regulation and control capability of the in-plane magnetic field strength and direction.