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69results about How to "More freedom of movement" patented technology

Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton

The invention provides a wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton which comprises a supporting rod and an exoskeleton training device which are fixed on a base, wherein the exoskeleton training device is formed by connecting a shoulder adduction / abduction joint, a shoulder flexion / extension joint, a shoulder medial rotation / lateral rotation joint, an elbow flexion / extension joint, an elbow medial rotation / lateral rotation joint, a wrist adduction / abduction joint and a wrist flexion / extension joint in series. The joints are directly driven by a motor, wherein the shoulder and elbow rotating joints are additionally provided with a spur-gear set, the structure is simple, and the response speed is high. Compared with the prior art, the exoskeleton provided by the invention has more degrees of freedom of movement and can adapt to standing and sitting training. The length of an exoskeleton rod can be adjusted according to the height of a patient, thereby ensuring the wearing comfort. A spacing structure is adopted by the joints, thereby improving the safety. Angle and moment sensors at the joint points can acquire kinematic and dynamic data of each joint in real time, thereby being convenient for physical therapists to subsequently analyze and establish a training scheme to achieve an optimal rehabilitation effect.
Owner:ZHEJIANG UNIV

Series-parallel water jet carving robot with six degrees of freedom

The invention discloses a series-parallel water jet carving robot with six degrees of freedom. The robot comprises a mount, a vertical column component, a lifting device, a rocker with six degrees of freedom, a parallel cutter rack with three degrees of freedom and a jet carving device, wherein a water tank is arranged in the mount, the rocker can move upwards and downwards along the vertical column under the driving of the lifting device; and the parallel cutter rack with three degrees of freedom sleeves the rocker with two degrees of freedom and can translate along the rocker with two degrees of freedom; a spraying gun in the jet carving device is arranged on the parallel cutter rack and has six spatial movement degrees of freedom. According to the carving robot, the processing operations such as blanking and cutting, carving, chamfering, routing and trimming of an acrylic product can be realized; the action force of the robot during carving operation is small; a work piece is low in temperature and keeps the shape; the influence of the acrylic material bonding on a cutter or the work piece to the precision and quality of the work piece can be avoided; and the robot further has the advantage of being compact in device structure, stable and reliable in work, convenient and fast to operate and maintain, low in entire machine cost and high in processing precision.
Owner:ANHUI UNIV OF SCI & TECH +1

Robotic surgical instrument arm and minimally-invasive surgical robot applicable to various hole numbers

The invention relates to a robotic surgical instrument arm and a minimally-invasive surgical robot applicable to various hole numbers. A transmission device of the robotic surgical instrument arm anda flexible arm are in transmission through a wire rope, and the flexible arm is provided with a force sensor which is used for sensing stress of an executing end; due to multiple-degree-of-freedom arranging of the flexible arm, the flexibility is improved; due to configuration layout design of the transmission device, a driving device and the flexible arm, a surgical operation incision in dual-hole and multi-hole combinations can be smaller, and a surgical operation is more minimally-invasive; the minimally-invasive surgical robot applicable to various hole numbers can be assembled into single-hole, dual-hole and multi-hole minimally-invasive surgical robots according to clinical requirements; and the quantity of adaptive diseases is large, the coverage is extensive, and the hole numbers and a branch quantity are changed flexibly. Through multiple-degree-of-freedom motion of the flexible arm, an endoscope and an end operating appliance can achieve omni-bearing poses in space, the fieldof view of the surgical operation is enlarged, and blind areas are avoided. The quantity of degrees of freedom of an in-vitro mechanical arm is greater than 6, bedside deployment is facilitated, anda remote motion center point can be relatively easily formed and is free of interference with human bodies.
Owner:BEIJING UNIV OF POSTS & TELECOMM

Space mechanical arm suspension microgravity simulation method

The invention provides a space mechanical arm suspension microgravity simulation method, and belongs to the field of simulation experiments, wherein the method comprises the steps: S1, installing a space machine, and controlling a six-degree-of-freedom table to move to a test starting position on an air floatation platform; S2, adjusting the alignment position according to the target point of thesix-degree-of-freedom table; S3, controlling a mechanical swing arm to move, and connecting a suspension assembly with a suspension point; S4, controlling an omnidirectional mobile platform to move along with the six-degree-of-freedom platform; S5, controlling a space mechanical arm to be unfolded; S6, after the space mechanical arm completes the test, controlling the space mechanical arm to moveto an original folded state; S7, after the six-degree-of-freedom table moves to the parking position, closing an air source, and supporting and fixing the six-degree-of-freedom table; and S8, ending the test of disassembling a suspension assembly. The action of the gravity of the mechanical arm on the posture of a spacecraft when the mechanical arm is unfolded is eliminated, meanwhile, more motionfreedom degrees and motion ranges of the mechanical arm are reserved, and the unfolding range of the space mechanical arm is adapted to in a large range.
Owner:TIANJIN AEROSPACE ELECTROMECHANICAL EQUIP RES INST

Space mechanical arm suspension microgravity simulation device

The invention provides a space mechanical arm suspension microgravity simulation device, which belongs to the field of simulation experiments, and comprises a mechanical swing arm mounting platform, asix-degree-of-freedom table and a camera, a target point on the six-degree-of-freedom table is measured in real time to obtain the position and attitude change of the six-degree-of-freedom table, andthe mechanical swing arm mounting platform is controlled to move along with the six-degree-of-of-freedom table; the mechanical swing arm mounting platform comprises an omni-directional moving platform, a balance weight and a mechanical swing arm bracket; the omni-directional moving platform moves omni-directionally in a plane; a counterweight, which is used for balancing the whole centroid of theomni-directional mobile platform, and a mechanical swing arm, the motion of the mechanical swing arm bracket is used for compensating the motion precision of the full-moving platform. The action of the gravity of the mechanical arm on the posture of the spacecraft when the mechanical arm is unfolded is eliminated, meanwhile, more motion freedom degrees and motion ranges of the mechanical arm arereserved, and the unfolding range of the space mechanical arm is adapted to in a large range.
Owner:TIANJIN AEROSPACE ELECTROMECHANICAL EQUIP RES INST
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