6 results about "Compensating movements" patented technology

The invention discloses a foot end slip detection and compensation method for a six-wheeled composite robot, and relates to the technical field of anti-slip of robot movement. The method mainly comprises the three steps that firstly, a sliding detection model is built based on a long short-term memory (LSTM) network model, and the model predicts the sliding amount of each foot end only by taking error information of an actual motion state and an expected state of a fuselage as input; secondly, according to the predicted slip amount, obtaining an instantaneous steering center and a compensation rotation angle generated by slipping of the robot through geometric calculation; and finally, according to the calculated steering parameters, the robot is controlled to execute pure rolling steering motion, a supporting polygon is reconfigured through the strategy that the non-slipping swing legs fall down and the slipping legs are lifted up, and motion errors are compensated in real time. The method has the beneficial effects that the hardware cost is low, the system is light in weight, the real-time performance and the self-adaptability are high, and the motion stability of the robot on the complex terrain can be effectively improved.

The invention relates to a drive arrangement for a flap (2) of a motor vehicle (3), comprising a first drive train (5) with a first drive (6) having a body-side and a flap-side first drive connection (7) for an opening movement of the flap (2) and a second drive train (9) for an emergency opening movement of the flap (2), wherein the first drive (6) has a spindle-spindle nut drive (15) with a spindle (16) and spindle nut (17) for performing linear drive movements along a geometric spindle axis (18) between a retracted position and an extended position of the drive, and wherein the spindle nut (17) is axially secured on both sides to a spindle guide tube (19) in which the spindle (16) is axially guided during the linear drive movements, and the spindle guide tube (19) is connected to one of the first drive connections (7,8) and the spindle (16) is axially fixed to the other of the first drive connections (7, 8). It is proposed that the spindle nut (17) remains in a first axial position relative to the spindle guide tube (19) in the axially secured state during an opening movement of the flap (2) and, in the course of an emergency opening movement, performs an axial compensating movement relative to the spindle guide tube (19) from the first axial position to a second axial position relative to the spindle guide tube (19).

This invention provides a three-dimensional nano-vibration damping gimbal and a nano-measurement system. The vibration damping gimbal is used to detect and counteract the vibration of an end effector, whereby the vibration characterizes the relative vibration between the end effector and the sample. The vibration damping gimbal comprises an accelerometer, an XYZ three-degree-of-freedom (XYZ) drive unit, and a gimbal controller. The gimbal controller is electrically connected to both the accelerometer and the XYZ drive unit. The accelerometer, integrated on the end effector, detects the XYZ displacement of the end effector, obtains a vibration signal, and sends the vibration signal to the gimbal controller. The gimbal controller generates a corresponding drive signal based on the vibration signal detected by the accelerometer and sends it to the XYZ drive unit. The XYZ drive unit is also mechanically connected to both the end effector and the robot end effector, and drives the end effector to generate a compensating motion based on the received drive signal. This compensating motion is used to counteract the vibration.

In the field of mechanical power transmission technology, we provide a pressing and lifting mechanism. [Solution] The coordinated action of the locking member 1, the first elastic member 2, and the release member 3 ensures secure locking and easy release to an external device. The guide slope provided on the locking end 11 automatically rotates the locking member simply by pushing in the external device, allowing for quick attachment by pushing alone, thus eliminating the need for additional operation. The symmetrical arrangement of the two locking members, along with the transmission cooperation between the release parts at both ends of the release member and the drive end 12, enables synchronous locking and release, resulting in a balanced locking force and high reliability. The release part slides in cooperation with the transmission slope on the transmission arm via the release slope, resulting in high transmission efficiency. The lever 5 drives the release member through the movable connection between the arc-shaped projection 51 and the arc slot, compensating for differences in the motion trajectory and providing a variety of operating methods. The entire mechanism is modularized, making it highly adaptable and easy to operate.

The invention relates to a contact bridge (1) for connecting a first busbar (4') to a second busbar (4"), wherein the contact bridge (1) comprises a first jaw (8') for at least partially receiving the first busbar (4'), a second jaw (8") facing away from the first jaw (8') for at least partially receiving the second busbar (4") and a spring assembly (50), the first jaw (8') and the second jaw (8") each being configured to be openable against the spring assembly (50), wherein the first jaw (8') is connected to the second jaw (8") in an electrically conductive and motion-transmitting manner. This ensures that a compensation movement required to overcome a positional tolerance between the busbars (4', 4") can be distributed evenly between the first jaw (8') and the second jaw (8"). Furthermore, the invention relates to a housing (84) for such a contact bridge and to a connector (2) having such a contact bridge.