99results about How to "No coupling" patented technology

The invention provides a simple and effective thermal management system of a water-cooling proton exchange membrane fuel cell and a control method of the thermal management system. The thermal management system mainly comprises an electric pile, a water tank provided with a heating device, a cooling water circulating pump, a radiator, a cooling water pile inlet temperature sensor, a cooling water pile outlet temperature sensor, a cooling water pile inlet pressure sensor and a controller of the thermal management system. The control method following pressure change is provided to overcome the defects of lag, great overshooting, system coupling and the like caused by temperature change tracking in the traditional control strategy. The radiator is mainly used for controlling the cooling water inlet temperature of the pile and mainly controls the rotating speed of a radiator fan according to the cooling water inlet temperature of the pile of the fuel cell; and the cooling water circulating pump is mainly used for controlling the cooling water flow in the whole thermal management system and mainly controls the rotating speed of the circulating pump according to the cooling water inlet pressure of the pile of the fuel cell.

The invention provides an MDOF (multiple-degree-of-freedom) magnetic suspension motor, belonging to the technical field of motors. A magnetic suspension technology is combined with an MDOF motor technology to design the MDOF magnetic suspension motor. A spherical type MDOF magnetic suspension motor, a cylinder type MDOF magnetic suspension motor and a flat plate type MDOF magnetic suspension motor are provided, wherein a stator and a rotor of a rotating machine unit of the spherical type MDOF magnetic suspension motor are fixedly connected with a deflection motor unit and a suspension motor unit mainly by a primary structure and a secondary structure; a stator and a rotor of a rotating machine unit of the cylinder type MDOF magnetic suspension motor are fixedly connected with primary structures and secondary structures of an axial thrust and suspension motor unit respectively; and a primary structure and a secondary structure of a bilateral linear motor unit of the flat plate type MDOF magnetic suspension motor are fixedly connected with a primary structure and a secondary structure of an oriented suspension motor unit respectively. The MDOF control windings of the three motors are independent mutually and are not coupled; the same secondary structure is used for the suspension control and the deflection control, thereby being simple in structure; and the rotors are supported by adopting a magnetic suspension way, thus the friction does not occur, the speed is high and the service life is long.

A two-rotation two-motion four-freedom-degree parallel excitation platform comprises a movable platform, a fixed platform, four driving branches of the same structure and a middle restraint branch, wherein the four driving branches and the middle restraint branch are used for connecting the two platforms. The four driving branches are respectively of a PSS structure. In each driving branch, a linear module (in an electric driven mode) is fixed to the fixed platform and connected with a sliding block through a sliding pair, one end of a connecting rod is connected with the sliding block through a first ball pair, and the other end of the connecting rod is connected with the movable platform through a second ball pair. The middle restraint branch is of a PPU structure. A guide rail in the middle restraint branch is fixed to the fixed platform, one end of a lower connecting rod is connected with the guide rail through a first sliding pair, the other end of the lower connecting rod is connected with one end of an upper connecting rod through a second sliding pair, and the other end of the upper connecting rod is connected with the movable platform through a universal hinge. The two-rotation two-motion four-freedom-degree parallel excitation platform can achieve the space two-dimensional independent rotational freedom degree and the two-dimensional independent movement freedom degree and has the advantages of being simple and compact in structure, rapid in dynamic response, easy to install and maintain and the like.

The invention relates to a distribution structure of an SPORT (Solar Polar Orbit Radio Telescope) clock scanning satellite. The SPORT clock scanning satellite comprises a satellite body, a subsatellite, a stretching arm, a solar cell paddle, a butt-joint ring, a geosynchronous communication antenna, adopts a main force-bearing structure which is a central force-bearing drum and a radial partition board force-transferring path, has a clear and concise force-transferring link and is beneficial to the design of structure strength and rigidity through configuration distribution; the invention can not cause excessive pressure on the control of a satellite attitude because the distribution position of a propelling module of the satellite body ensures that the position of a satellite geometric center is hardly changed with the decrease of fuel, thereby better keeping the stability of the satellite attitude; in addition, the SPORT clock scanning satellite ensures that relative positions among the earth, the sun and the satellite are changed at any time when the satellite moves on an orbit and the geosynchronous communication antenna is communicated with an earth communication link, and meets the requirements and the limit of carrying, the requirements of payloads on placement, fixing, directions, viewing fields, operation, replacement, thermal control, stability, and the like in a space and the requirements of the payloads on detecting to realize a scientific goal.

The invention discloses a serially-connected nano-scale micro positioning workbench which has X-Y-Z three-dimensional freedom degrees and comprises a base, a movable platform, an X-directional displacement amplifier, a Y-directional displacement amplifier and a Z-directional displacement amplifier; furthermore, the base, the Z-directional displacement amplifier, the Y-directional displacement amplifier, the X-directional displacement amplifier and the movable platform are sequentially connected into a serially-connected structure, and the displacements are respectively controlled between the freedom degrees; wherein, the X-directional displacement amplifier and the Y-directional displacement amplifier have the same structure. The serially-connected nano-scale micro positioning workbench has compact structure and large delivery stroke range, one point on the movable platform can reach any point in the delivery stroke range, and the serially-connected nano-scale micro positioning workbench can be applied to various occasions with strict space restriction and larger displacement requirement.

The embodiment of the invention discloses business sending and receiving business, terminals and a system structure in microwave communication, which relate to the technical field of communication and are invented to realize the mutual cooperation of ACM and HSM functions in a microwave communication system, and effectively improve the transmission efficiency and the transmission reliability of the system. The business sending method comprises that the sending end of a main link receives a self-adaptive encoding modulation ACM switching instruction feedbacked by the receiving end of the main link, and the sending end of a standby link receives the ACM switching instruction feedbacked by the receiving end of the standby link; the sending end of the main link carries out ACM switching to the business sent by the main link according to the received ACM switching instruction, and sends the business; and the sending end of the standby link carries out ACM switching to the business sent by the standby link according to the received ACM switching instruction, and sends the business. The embodiment of the invention also discloses the business receiving method, the sending terminal, the receiving terminal and the system structure. The invention can be used in microwave communication technology.

An inductive counteractive momentum sphere system comprises a counteractive momentum sphere module, a displacement detection and drive circuit, a revolving speed detection module and a control system. The counteractive momentum sphere module is composed of a spherical rotor (1) and a coil electrode cage (2) arranged around the spherical rotor (1). The spherical rotor (1) conducts suspension driving and rotation driving through an alternating magnetic field generated by the coil electrode cage (2). The revolving speed detection module comprises a revolving speed detection probe (3) and a revolving speed detection circuit and detects out the revolving speed of the spherical rotor (1). A displacement detection part in the displacement detection and drive circuit detects out relative displacement of the spherical rotor (1). The control system generates control signals according to collected revolving speed information and displacement information of the spherical rotor (1), and a drive part in the displacement detection and drive circuit controls the current of the coil electrode cage (2) to change the alternating magnetic field so as to achieve feedback control over the spherical rotor (1).

The permanent magnetic offset external rotor magnetic radial bearing features that it consists of rotor iron core, permanent magnet, stator iron core and exciting winding. Eight stator iron core magnetic poles distributed homogeneously in a circumference are wound with exciting winding; and four permanent magnets are embedded inside the stator iron core separately in the +X, -X, +Y and -Y directions to produce offset magnetic field in X direction and offset magnetic field in Y direction separately. Between the outer surface of the stator iron core and the inner surface of the rotor iron core, there is air gap. The permanent magnetic offset external rotor magnetic radial bearing of the present invention has the advantages of no coupling between the X direction permanent magnetic path and the Y direction permanent magnetic path, small size, low power consumption, reliable performance and easy control.

The invention discloses a stroke compression method which is applied to a high-speed printing system and based on a RLE principle; and the compression method is based on RLE algorithm, increases a macroblock segmentation strategy and a compression threshold coefficient, and achieves the purposes of stable operation, real-time transmission and controllable compression. The macroblock segmentation strategy is adopted, the data coupling is eliminated, even if errors occur in a transmission process, the current macroblock is only affected, the fault performance is good, and the operation is stabler; the macroblock size can be set by a macroblock controller so as to adapt to different transmission environments and facilitate real-time transmission and processing; for encoding in the macroblock, the invention adopts the compression threshold coefficient to ensure the algorithm compression ratio, and realize controllable compression rate; the invention also discloses a stroke compression algorithm operation device based on the RLE principle; and being the operation environment of the compression method of the invention, the device well applies the macroblock segmentation strategy and the compression threshold coefficient.

The invention provides an electrically erasable programmable read-only memory (EEPROM) storage array structure. The structure comprises a plurality of memory cells, drain electrode selection wires and source electrode selection wires, word line strobe signal wires and control gate wires, wherein each memory cell comprises an N trap, a drain electrode, a source electrode, a drain electrode floating gate, a drain electrode control gate, a source electrode floating gate, a source electrode control gate and a selection gate, and the bottom part of each N trap is connected with a trap end; the drain electrode selection wires and the source electrode selection wires are alternately arrayed along an array direction, each drain electrode selection wire and each source electrode selection wire are respectively connected with the drain electrode and the source electrode of each memory cell on the array direction, and the drain electrode selection wires and the source electrode selection wires are respectively connected up to drain signals and source signals; the word line strobe signal wires are arrayed along a line direction, and each word line strobe signal wire is connected with the selection gate of each memory cell along the line direction and receives word line strobe signals; and the control gate wires are arrayed along the line direction, each control gate wire is connected with the drain electrode control gate and the source electrode control gate in each memory cell along the line direction and receives control gate signals, so that an array structure cannot be damaged by continuous repeated programming and erasing operations under the condition of lower various signals.

A non-coupling six-dimensional force sensor with a binocular structure belongs to the technical field of sensors, relates to a force sensor, and is aimed at solving the problems that a conventional six-dimensional force sensor is low in sensitivity and large in dimension coupling. An upper platform loading bench and a lower platform fixed bench are both circular benches. A central wheel hub is positioned in the center. Lower platform sensitive beams and upper platform sensitive beams are fixed in the central wheel hub. The lower platform sensitive beams are fixed on the inner wall of the lower platform fixed bench. Each lower platform sensitive beam is equipped with a No.1 binocular structured through hole. The upper platform sensitive beams are fixed on the inner wall of the upper platform loading bench. Each upper platform sensitive beam is equipped with a No.2 binocular structured through hole. Every four of strain gauges form one Wheatstone full bridge. The eight Wheatstone full bridges are all used for measuring six-dimensional force information. Both the upper platform loading bench and the lower platform fixed bench are equipped with multiple screwed holes. The screwed holes are used for being connected with external to-be-measured equipment. The beneficial effects are that the sensitivity is high and no coupling exists among dimensions.

The invention provides a video data transmission system and method and a video data decoding method, and relates to the field of data transmission. A server sends multiple independently decodable video compressed code streams to a user terminal according to the connection state of the user terminal; the video compressed code streams are mutually independent, have no coupling; the code streams are stable and are independently decodable; when a network state changes, the fluency of the video can be timely ensured; and the system and the method provided by the invention are applicable to various network conditions.

The invention discloses a new environment isolation configuration data management method and system. The method comprises the steps that initial configuration data used by a service system is input and / or changed at a configuration center background; a remote interface of a configuration data sever is called, and the initial configuration data is subjected to persistence to a database; after data persistence is completed, the configuration center background requests and receives nodes of the server in the service system, nodes except for the nodes of the server are informed, and meanwhile latest configuration data is synchronously obtained in the database. According to the method, system interaction is conducted based on an Http, configuration content is stored by means of an MYSQL database, and a distributed cluster forms multi-node deployment. In addition, configuration data timely perception, environment isolation and powerful disaster tolerance strategy are achieved.

The invention provides an ETC-based vehicle-related place charging device and method, and the device comprises a vehicle recognition unit which is installed at an entrance of a vehicle-related place,and is configured to be used for reading the related information of a vehicle; a first ETC unit, installed in the vehicle and is configured to store OBU equipment, complete authority verification andrealize payment transaction; a communication unit, configured to be connected with the vehicle identification unit and the charging unit and establish communication with a settlement center; a charging unit, configured to calculate the fee generated by the vehicle in the vehicle-related place and generate fee related information; a result feedback unit, configured to feed back whether payment is successful or not; and a transaction data generation unit, configured to generate a vehicle ECT transaction flow data record and send the data record to a settlement center through the communication unit. The method is realized through the device. The device aims to reduce the occurrence probability of a vehicle congestion phenomenon caused by a vehicle-related place charging mechanism in the priorart.

The invention relates to a three-chain parallel machine tool, which comprises a machine tool body, Hook hinged shafts, telescopic rods, a parallel mechanism, a translation table, a double-cross shaft and a workbench, wherein the machine tool body is provided with two Hook hinged shafts and a double-cross shaft, two upper telescopic rods are respectively assembled on the two Hook hinged shafts, the lower telescopic rod is assembled on the double-cross shaft, one end of the two upper telescopic rods and one end of the lower telescopic rod are commonly arranged on the translation table, and the parallel mechanism is arranged between the translation table and the double-cross shaft. The machine tool is in a three-chain structure, inverse kinematics solution and forward kinematics solution are explicit expressions, the calculation is simple, so no singularity or dead spot exists, no coupling exists, and because the machine tool has simple mechanism, the real-time control is easy, the operating space is large, the working is reliable, and the cost is lower.

The invention discloses a suspending device for magnetic suspending automobile that includes one or plural suspending frame and electromagnets that are installed on two sides of the suspending frame and on the four corners of the suspending frame. It could gain suspending device that has good suspending redundancy ability and eliminating control coupling of the two ends of suspending electromagnets.

A lithographic projection apparatus comprising: a radiation source for providing a projection beam of radiation; a support structure for supporting patterning means, the patterning means serving to pattern the projection beam according to a desired pattern; a substrate table for holding a substrate; a projection system for projecting the patterned beam onto a target portion of the substrate; said radiation source further comprising: an illumination system for conditioning said beam of radiation so as to provide a conditioned radiation beam so as to be able to illuminate said patterning means; said illumination system defining a plane of entrance wherein said radiation beam enters said illumination system; and a beam delivery system comprising redirecting elements for redirecting and delivering said projection beam from a radiation source to said illumination system. The lithographic projection apparatus is characterized in that the said beam delivery system comprises an imaging system for imaging said radiation beam from an object plane located at a distance from said plane of entrance to an image plane located near or at said plane of entrance. In this way the influence of laser pointing drift on both beam position and pointing drift at said entrance is highly decreased.

The invention discloses a novel three-DOF (degree of freedom) permanent magnet type bearing-free motor. The motor comprises a rotor and a stator, wherein the rotor consists of a rotating shaft and a rotor core, and rotor permanent magnets are mounted on the external circumference of the rotor core; the stator comprises stator cores, outer magnetic isolating rings and axial suspending windings which are sequentially connected outwards in the radial direction of the rotor core as well as axial control iron cores and two stator permanent magnetic rings which are symmetrically arranged on two sides of the stator cores; outer edges of the axial control iron cores are in butt joint, inner edges extend along the rotor core, and axial working gaps are formed in the inner edges; the same poles of the two stator permanent magnetic rings are opposite, the outer walls of the stator permanent magnetic rings are connected with outer isolating rings, and the inner walls of the stator permanent magnetic rings are connected with inner isolating rings respectively; radial working gaps are formed between the stator cores and the rotor cores, and the stator cores are wound with motor torque windings and radial suspending windings located on the inner layers and the outer layers respectively. No coupling exists between torque and suspending force, and the motor is simple to control and easy to implement.

The invention discloses a test device for measuring the damping vibration reduction effect of a turbine movable blade, and belongs to the technical field of turbine movable blade testing. The testingdevice includes a first loading mechanism for applying a centrifugal load to the blade portion of the turbine movable blade, a second loading mechanism for applying a centrifugal load to the damping part of the turbine movable blade, a vibration mechanism for providing vibration, a clamp for clamping the blade and an acceleration sensor for measuring the vibration effect. The loading device can guarantee that two loading mechanisms are independent from each other when carrying out loading work, and no coupling phenomenon occurs, and the problem of damping measurement under the working state ofthe existing turbine movable blade can be solved, the technical support is provided for design and research of the movable blade damping of the engine, and a guarantee is provided for the research ofthe safety and reliability of the engine.

The invention discloses a two-degree-of-freedom tandem scanning platform. The scanning platform comprises a base, platforms arranged in the base and motors for driving the platform, wherein the platforms comprise a follow-up platform and a moving platform; the motors comprise a follow-up platform motor and a moving platform motor; the moving platform is arranged at the top of the base through moving platform rotating shafts on the two ends of the moving platform; the follow-up platform is arranged below the moving platform through follow-up platform rotating shafts on the two sides of the moving platform; the moving platform driving motor of the moving platform is arranged on the surface of the moving platform; and the follow-up platform driving motor of the follow-up platform is arranged at the bottom of the base. According to the invention, the moving platform and the follow-up platform move together, and are provided with two mutually-perpendicular freedom configurations, so that coupling between the moving platform and the follow-up platform is avoided, the control precision of the moving platform and the follow-up platform is improved, the reduction ratio of a moving platform gear mechanism to a follow-up platform gear mechanism becomes controllable, the output speed and output torque of the moving platform and the follow-up platform become controllable, and the application range of the moving platform and the follow-up platform is widened.

The invention relates to the field of medical instruments, in particular to a surgical robot system. The surgical robot system comprises a surgical robot and a mainframe; the surgical robot comprisesa man-machine interface, a driving mechanism and an apparatus structure, the man-machine interface acquires corresponding electrical signals according to human hand actions, and the driving mechanismdrives the apparatus structure to operate according to the electrical signals; the mainframe is internally provided with a controller and a power source, the controller receives the electrical signalsand controls the driving mechanism to operate according to the electrical signals, and the power source supplies power to the driving mechanism. The technical problem that a handheld portion of a surgical robot in the prior art is heavy and not beneficial to long-time operation is solved.

The invention relates to the field of an intelligent robot, in particular to an actuating device, a transmission mechanism, an appliance structure and a robot. The actuating device comprises an actuating frame, an actuator and two transmission cables, wherein the actuating frame is hinged to a seat body; the actuator is hinged into the actuating frame; the deflection direction of the actuator is vertical to the deflection direction of the actuating frame; the two transmission cables are respectively connected with the two sides of the actuator; when one transmission cable is collected and theother transmission cable is released at the same time and at the same amplitude, the actuator deflects; and when the two transmission cables are collected or released at the same time at the same amplitude, the actuating frame deflects. The actuator arranged in the actuating device is pulled by the transmission cables, so that the arrangement of a gear is not needed; a coupling phenomenon does notexist; the structure is greatly simplified; parts are few; the size is small; the integrated arrangement with other driving transmission structures is convenient; miniaturization can be really realized; and the technical problems of many parts, heavy weight, big size and easy occurrence of coupling of a structure of the robot in the prior art are solved.

The invention relates to an automatic docking device and method for a right angle coordinate flexibility non-contact type connector used for space launch technology and in the transportation process of liquefied natural gas (LNG). The invention aims at providing the docking device and method for the connector, which have the advantages of high automation degree, strong adaptive capacity, simple structure, safety, reliability and the like. The automatic docking device for the right angle coordinate flexibility non-contact type connector comprises a pedestal, an advancing and retreating seat, atransverse movement seat, a lifting seat, a flexible clamping propulsion mechanism, a non-contact detection system and a connector component, wherein the advancing and retreating seat is installed above the pedestal, the transverse movement seat is installed above the advancing and retreating seat, the lifting seat is installed above the transverse movement seat, the flexible clamping propulsion mechanism is installed above the lifting seat, the non-contact detection system comprises a target plate and a non-contact sensor, the non-contact sensor is installed on the lifting seat, and the target plate is installed on a surface of a storage box; and the connector component comprises a connector, and the connector is used for connecting with an interface.

The invention provides a method for dynamically configuring the display content in large-screen customization mode. The method comprises the following steps: S1, a defining step for customizing the large screen; s2, a content screening step for screening the control information; s3, a design layout step for carrying out layout on the large screen; s4, an editing area position step used for realizing codeless operation; and S5, a content preview step for preferentially displaying the user preference content. The beneficial effects of the invention are that: a user can create a large screen withcustomized resolution according to the resolution of products to be displayed actually and the number of products to be displayed. The large screen is divided into areas by adding containers and layers with self-defined sizes in a visual area, products needing to be displayed are dragged from a component list to designated containers or layers in a dragging mode, and display content in each container and display content in each layer are completely independent.

The invention discloses a spatial three-degree-of-freedom suspension platform controlled through parallel flexible cables. The spatial three-degree-of-freedom suspension platform controlled through the parallel flexible cables comprises an upper platform body, a movable platform body, a lower platform body, two dragging systems, an X-axis and Y-axis linear motor system and a Z-axis linear motor system, wherein the three platform bodies are in linkage through the flexible cables and pulleys, an upper hinge point and a lower hinge point of the movable platform body are symmetrical about a local coordinate system of the movable platform body, the distance between the upper hinge point of the movable platform body and the original point is equal to the distance between the lower hinge point of the movable platform body and the original point, the two flexible cables located on the same hinge point of the movable platform body form the corresponding dragging circulating system, and the two dragging circulating systems are formed by all the flexible cables. According to the spatial three-degree-of-freedom suspension platform controlled through the parallel flexible cables, the calculation process of a forward parallel mechanism and the calculation process of a reverse parallel mechanism are simplified, swinging of the platform is achieved by controlling the displacement of the flexible cables, actual calculation can be faster, and actual control can be easier; a ball linear motor can drive the flexible cables to move with small driving force; a counterweight system is additionally arranged on the whole platform, the driving force of the Z-axis linear motor system is reduced greatly, and the working efficiency of equipment is improved; meanwhile, holes are formed in the middle of the upper platform body, the middle of the movable platform body and the middle of the lower platform body respectively, and the swinging space of the equipment is enlarged.

The invention discloses a micro-service division method and system. The method comprises the following steps: receiving service process information and data flow information of a pre-split monomer system and entity information of a plurality of entities; determining a task chain corresponding to each entity based on the entity information and the service process information of the plurality of entities; based on the task chains and the data flow information, determining at least one task set corresponding to each task chain; and for each set task chain corresponding to the entity, dividing atleast one task set corresponding to the task chain into at least one micro-service. According to the invention, micro-service division can be carried out on the pre-split monomer system according to the entity, and the expandability of the system is improved.

The invention relates to the field of reluctance motors, and discloses a magnetic levitation switched reluctance motor which comprises a stator, an inner rotor and an outer rotor. The stator comprisesa motor stator core, a permanent magnet ring and a magnetism isolating aluminum ring; the motor stator iron core is divided into an outer side motor stator iron core and an inner side motor stator iron core by the magnetism isolating aluminum ring, six outer side suspension teeth and torque teeth and six inner side suspension teeth and torque teeth are evenly distributed on the surface of the outer side motor stator iron core and the surface of the inner side motor stator iron core respectively, and the inner side torque teeth and the outer side torque teeth are connected with the motor stator iron core through magnetism isolating blocks. Windings are wound on the suspension teeth and the torque teeth; the permanent magnet ring is connected with left and right motor stator cores; rotor teeth are uniformly distributed on the inner side of the outer side rotor iron core and the outer side of the inner side rotor iron core respectively, and an outer side air gap and an inner side air gapare formed between the rotor teeth and the outer and inner side motor stator iron cores respectively; according to the reluctance motor, stable suspension of the inner rotor and the outer rotor can be achieved only through two three-phase inverters, suspension control and torque control are not coupled, and the reluctance motor has the advantages of being compact in structure, low in manufacturing cost and easy to control.

The invention provides a centering three-degree-of-freedom adjusting lens bracket capable of meeting an environmental adaptability test. The bracket comprises an orientation adjusting seat, a adjusting gear, a pitching adjusting seat, and a lens; the edge surface of the orientation adjusting seat is gear-shaped; a centering shaft is arranged at the bottom of the orientation adjusting seat; an arc-shaped long hole taking the centering shaft as a circle center is formed in the orientation adjusting seat; the adjusting gear is meshed with the gear-shaped edge surface of the orientation adjustingseat; the adjusting gear is rotated, so thatthe orientation adjusting seat is pushed to move along the arc-shaped long hole with the centering shaft as the circle center; the pitching adjusting seat is provided with two adjusting shafts; the adjusting shafts are located in grooves; two round head cap bolts penetrate through the pitching adjusting seat and a vertical mounting seat to connect the pitching adjusting seat and the vertical mounting seat; the lens is rotationally connected into the pitching adjusting seat; the center of the lens coincides with a rotating shaft; the connecting line between the two adjusting shafts passes through the center of the lens; the central axis of the centering shaft passes through the center of the lens. According to the centering three-degree-of-freedomadjusting lens bracket, three-degree-of-freedom adjustment of rotation, pitching and orientation of the lens can be achieved, the three-degree-of-freedom adjustment is independent of one another, coupling linkage is avoided, and the center of the lens is kept unchanged all the time in the three-degree-of-freedom adjustment process.

The invention relates to a ship rotating self-excited shaking device, and belongs to the technical field of ship experiments. The ship rotating self-excited shaking device is used for a ship model self-excited shaking experiment, and aims to solve the problems that existing rolling or pitching generation devices can only rely on heavy objects or wave generation, wave generation is high is cost andvery difficult, and the heavy object rolling or pitching generation devices are large in size, difficult to install, high in cost and poor in universality. The ship rotating self-excited shaking device relies on gravitational swinging moment generated by an upper rocker arm and a lower rocker arm with coaxial bidirectional relative rotation and moment generated by rotating centrifugal force to generate self-excited moment on rolling or pitching of a ship model, and generates rolling or pitching sinusoidal moment on the ship model without affecting swinging moment in the other direction; meanwhile, the quality and position of a counterweight can be adjusted as required, the purpose of adjusting generated shaking excitation moment is achieved, and the swinging period can be adjusted by adjusting the rotating speed of a motor; and in addition, the ship rotating self-excited shaking device further has the advantages of simple structure, small size, easy and convenient operation and the like.

The invention discloses a multi-degree-of-freedom high-precision motion platform based on a few-branch-chain mechanism. The multi-degree-of-freedom high-precision motion platform comprises a static platform, four telescopic motion branch chains, a movable platform and four same piezoelectric inertial drivers. The static platform and the movable platform are connected through a flexible ball pair and a flexible hooke joint, and the motion branch chains are actuated by linear inertial piezoelectric actuators with a displacement sensing function. The actuator comprises a proportional linear Hall sensor, an actuating body, a motion unit, a cylindrical shell, a permanent magnet and a base. According to the four-degree-of-freedom platform, the flexible hinges are adopted to replace traditional kinematic pairs, the four-degree-of-freedom platform has the advantages of being easy to achieve equipment miniaturization, improving repeated positioning accuracy, being high in motion sensitivity and the like, meanwhile, the platform can reach a static stable state, and the problems of vibration and collision in the transportation process are solved. Large-stroke feeding motion of the platform is achieved through macro motion, and precise positioning is achieved by means of micro motion. And the platform is endowed with large-stroke and high-precision macro-micro motion capability.