46results about How to "Reduce trembling" patented technology

The invention provides an ornithopter with elastic wings. The ornithopter comprises a main fuselage body, a flapping wing transmission mechanism, the left elastic wing, the right elastic wing, the elastic tail wing and an adjustable supporting three-point-type undercarriage; the flapping wing transmission mechanism is fixedly installed on the main fuselage body and coincides with the gravity center of the main fuselage body; the left elastic wing and the right elastic wing are installed in the positions, on the two sides of the axis of the main fuselage body, of power output interfaces of the flapping wing transmission mechanism and are in driving connection with the flapping wing transmission mechanism; the elastic tail wing is fixed to the tail of the main fuselage body; and the adjustable supporting three-point-type undercarriage is fixed to the lower portion of the main fuselage body. According to the ornithopter with the elastic wings, flight lift force, the gravity center of thrust and the gravity center of the overall ornithopter coincide, and the ornithopter can do unpowered gliding and can glide in a wide flat terrain and land safely even through the driving force is lost; and the structure of the ornithopter is simple, can be suitable for large-size man carrying and freight transporting aerial vehicles and can be also suitable for small and medium-size unmanned aerial vehicles. The ornithopter with the elastic wings is high in safety, good in flight flexibility and high in flight load capacity.

The invention discloses a flying shooting method and system, and a chip bonding method and system, and relates to the technical field of chip bonding. For the bonding head of the bonded chip, plan the photographing position of each chip according to the position of each chip, plan the movement path of the bonding head, and set the motion path segment where the photographing position is located as a smooth curve. The camera is fixed on the top, and the camera is used to complete the photo. When the camera moves to the photo position, the camera moves at a constant speed. The product of the speed of the camera movement and the camera photo time is less than the pixel length of the photo taken by the camera. The invention improves the precision of the coordination of vision and motion control, reduces the time spent on the coordination of vision and motion control, and has the advantages of improving the precision and efficiency of bonding equipment.

The invention discloses a hovercraft path tracking control method based on second-order sliding-mode control, belongs to the technical field of path tracking control, and in particular relates to the application of a second-order sliding mode control method to the hovercraft path tracking. The hovercraft path tracking control method based on second-order sliding-mode control comprises steps of: firstly establishing a hovercraft motion three-degree-of-freedom mathematical model; then, calculating trim force by using a second-order sliding-mode point-to-point position controller; calculating heading torque by using a second-order sliding-mode heading controller; and finally, applying the trim torque and the heading torque to hovercraft path tracking control. The method applies the second-order sliding-mode control method to the hovercraft path tracking control, mainly solves the high nonlinearity and uncertainty of a hovercraft model, and is not liable to be disturbed by external environment.

The driving device is provided with a motor, a pinion, a first gear, a second gear, and a frame. The frame has a motor side surface and a gear side surface, and includes a first portion and a second portion. A motor housing of the motor is fixed to and supported at the motor side surface of the first portion. A motor shaft extends from the motor housing, penetrating the first portion from the motor side surface to the gear side surface. The pinion is fixed to the distal end of the motor shaft at the gear side surface. The first gear and the second gear are coaxially disposed and rotatably supported at the gear side surface of the second portion. The driving force of the motor is transmitted to the first gear and the second gear through the pinion. The gear side surface of the second portion is offset toward the motor side than the motor side surface of the first portion.