41results about How to "Realize multi-degree-of-freedom motion" patented technology

The invention discloses a multi-degree-of-freedom stiffness variable pneumatic operation operating arm and a manufacturing method. The operation operating arm is formed by connecting multiple sections of identical pneumatic driver units. Each pneumatic driver unit comprises a cylindrical driver, the two ends of the driver are connected to bases, the driver comprises an outside stiffness adjusting layer, and the stiffness adjusting layer is internally provided with a driving layer. The driving layer comprises a cylindrical silicone rubber layer with through holes, multiple cavities are formed in the silicone rubber layer, the inner surface of the silicone rubber layer is covered with a PDMS layer, and the outer surface of the silicone rubber layer is covered with double helix nylon fiber. The bases are provided with air holes corresponding to the cavities and vacuum orifices corresponding to the stiffness adjusting layer. The multi-degree-of-freedom stiffness variable pneumatic operation operating arm has the advantages of being highly flexible in motion capability, variable in stiffness, small in size and light in weight, causing little damage to a human body rigidity, and having less gas circuits, which facilitates control.

The invention provides a rotary linear permanent magnet motor, which includes a stator, a rotor and a mechanical decoupling device; the stator and the rotor are placed in a support seat, the stator includes a stator core, a rotating armature winding and a linear armature winding; the rotor includes a rotor iron core and the permanent magnet of the rotor; the mechanical decoupling device includes a rotary bearing, a sliding bracket and a sliding guide rail; the sliding bracket is connected to the inner shaft of the rotor through the rotating bearing, the sliding bracket is arranged on the sliding guide rail, and the sliding bracket can be positioned relative to the sliding guide rail on the axis of the inner shaft of the rotor within the axial length of the stator core, the radial direction of the rotary linear permanent magnet motor from the inside to the outside is the rotor inner shaft, the air bearing, the annular protrusion of the support seat, the rotor core, the rotor permanent Magnets, linear armature windings, rotating armature windings and stator cores. The rotary linear permanent magnet motor of the present invention realizes the multi-degree-of-freedom movement of a single motor, and improves the precision and efficiency of motor operation.

The invention discloses a compact rigid-flexible coupling platform connection structure and a multi-axis motion platform formed thereof, including an upper platform, a lower platform, a motion detection element and a driving device, and the base of the upper platform is designed as a rigid-flexible coupling structure and installed on the lower layer The driving device is installed on the platform guide rail and the lower platform, and the driving device drives the upper platform to move along the direction of the guide rail; the motion detection element detects the displacement or speed of the upper platform frame, and the second detection element is optional to detect the deformation or deformation of the flexible hinge speed. The present invention integrates the bottom of the upper platform with the lower platform, eliminating the need for an intermediate connecting plate, so that the overall center of gravity of the platform is reduced, the structure is compact, and the Z direction is flatter, and multi-layer platforms can be superimposed to realize multi-degree-of-freedom movement and flexibility To build the required multi-degree-of-freedom high-precision motion platform. In addition, the rigid-flexible coupling connection structure of the present invention adopts a sandwich-type flexible hinge, while ensuring no assembly error and fatigue life.

The invention discloses a magnetic resistance type multi-DOF (degree of freedom) magnetically-levitated planar motor, which belongs to the technical field of motors, and solves the problem that the existing permanent magnet synchronous planar motor is complicated in structure and low in positioning accuracy. The planar motor is composed of a primary part, a secondary part and air gaps, wherein the primary part is composed of an upper primary plate, a lower primary plate and armatures, and each armature is composed of an armature core, an armature winding and a primary permanent magnet; the secondary part is composed of a secondary base plate and a secondary yoke plate; and the armatures are divided into three or four sets and uniformly and symmetrically distributed at the periphery between the upper primary plate and the lower primary plate, the secondary part is also arranged between the upper primary plate and the lower primary plate, and the air gaps are formed between the upper primary plate and the secondary part and between the secondary part and the lower primary plate. The planar motor disclosed by the invention is applicable to magnetically-levitated planar motors.

The invention relates to a three-degree-of-freedom base and a 4D seat applying the same. The base comprises a chassis, a seat frame and a plurality of driving cylinders for connecting the chassis and the seat frame, wherein the driving cylinders are three driving cylinders which are distributed in an isosceles-triangle manner; each driving cylinder is connected with the chassis and the seat frame respectively by two ends of a universal and rotatable joint; the base also comprises at least one balance frame which is connected with the chassis and the seat frame by the two ends of a small-angle rotatable joint; and the 4D seat applying the base is also provided with a seat with an internal special-effect device on the chassis. The invention has the advantages that the traditional basic structure with the chassis, the seat frame and the driving cylinders is still used, three driving cylinders and two balance frames are used, so that multi-degree-of-freedom movement is realized, and the cost for driving, control and manufacture and cost for power energy are reduced; and the mechanical space is greatly saved, so that components needing to be provided with control equipment are integrated into a platform, and space support is provided for integration of a product.

The invention discloses an underwater towed body with multiple degrees of manipulation freedom. The underwater towed body includes torpedo shaped floating bodies, a controllable forced sinking hydrofoil, side boards, a fixed horizontal wing, fixed vertical tails, a controllable vertical tail and a main cavity. There are two torpedo shaped floating bodies arranged horizontally and separately, and the two torpedo shaped floating bodies are connected by the fixed horizontal wing. The main cavity is streamlined and is arranged at the middle part of the lower ends of the two torpedo shaped floating bodies, two ends of the main cavity are respectively supported by two airfoil members and are connected to the two torpedo shaped floating bodies respectively. The front ends of the outer surfaces of the two torpedo shaped floating bodies are respectively provided with a towing component in symmetry, and each towing component is equipped with a plurality of towing holes, by which towing ropes are connected to a ship body. Tail parts of the two torpedo shaped floating bodies are provided with the fixed vertical tails that are symmetrical airfoils. The underwater towed body provided in the invention has the advantages of concise appearance, good navigation stability, strong autonomous stabilizing capability, convenient attitude control, high manipulation efficiency, a lot of degrees of manipulable freedom, as well as simple control mechanism, thus having high practical value and commercial value.

The present invention belongs to the field of the ultrasonic electric motor manufacturing technique, and relates to an electromagnetic pressure-regulating multiple-freedom spherical ultrasonic electric motor. The invention comprises an engine casing, a sphere rotor which is provided with an output shaft, and a stator fixed on the engine casing. The sphere rotor is sleeved with an abrasion resisting circular ring. The surface of the circular ring is provided with a plurality of permanent magnetic pieces. The engine casing is also fixed with a plurality of pairs of electromagnetic poles. Each electromagnetic pole is composed of an iron core and a winding coil winding the iron core. The number of pairs of the electromagnetic poles is same to the number of pairs of magnetic piece electrodes and the positions are corresponding with the magnetic piece. The acting force between the permanent magnetic piece and the electromagnetic pole are regulated through changing the current of the windingcoil of the electromagnetic pole. The multiple-freedom spherical ultrasonic electric motor of the invention has the advantages of more reliable structure, controllable prepressure of the rotor, improved operating characteristic of the electric motor and increased flexibility to the designing of the electric motor control system.

The invention relates to a multi-degree-of-freedom linear motor, which comprises a first magnet array, a second magnet array, a third magnet array and a fourth magnet array arranged in parallel in sequence along a first direction, the first magnet array and the second A first magnetic field is formed between the magnet arrays, a second magnetic field is formed between the third magnet array and the fourth magnet array, and the polarity of the first magnetic field is opposite to that of the second magnetic field; and a U-shaped coil array, the , two ends of the U-shaped coil array are respectively inserted in the first and second magnetic fields. In the present invention, without increasing the number of coils, the linear motor has thrust in the x direction and the y direction, and even has torque in the Rz direction, so as to realize the multi-degree-of-freedom motion of the linear motor.