80 results about "Independent motion" patented technology

A component processing system (100) and a control method therefor. The component processing system (100) comprises: a positioning mechanism (10), comprising a positioning base (11), a first transverse moving member (12), a longitudinal moving member (13), and a second transverse moving member (14), wherein the first transverse moving member (12) is movably mounted on the base (11) along a first transverse direction, the longitudinal moving member (13) is movably mounted on the first transverse moving member (12) in the longitudinal direction, and the second transverse moving member (14) is movably mounted on the longitudinal moving member (13) along a second transverse direction; a processing mechanism (20), comprising a processing base (21), a main shaft assembly (22) and a pressing member (23), wherein the processing base (21) is mounted on the second transverse moving member (14), the main shaft assembly (22) is movably connected to the processing base (21) and is used for processing a component, the pressing member (23) is movably connected to the processing base (21) and is adapted to be in contact fit with the component, and the main shaft assembly (22) and the pressing member (23) can move independently; and an auxiliary tool (30), located on one side of the positioning mechanism (10) along the second transverse direction and used for fixing the component. The component processing system and the control method therefor can satisfy the requirements of local high-quality machining of large components.

Expandable fusion devices, systems, instruments, and methods thereof. The expandable fusion implant may include an upper endplate assembly and a lower endplate assembly. The upper and lower endplate assemblies may be configured to expand in width. A rotatable actuator may move one or more driving ramps, which mate with an upper ramp and a lower ramp, respectively. The actuator may cause independent movement of one or more of the driving ramps, thereby causing an expansion in height of the upper and lower endplate assemblies.

The invention relates to the technical field of continuum robot control, in particular to an under-actuated active and passive cooperative control device for a continuum robot. The two sections of mechanical arms are connected in a staggered mode to form two sections of continuous mechanical arms moving independently, each mechanical arm is provided with a plurality of bending units which are sequentially connected in the same position, the pre-tightening compensation mechanism is installed on the core body in the circumferential direction, the under-actuated control mechanism is installed on the installation disc, and the first rope is connected with the mechanical arms and the rope fixing plate; one end of the second rope is connected with the mechanical arm, and the other end of the second rope sequentially penetrates through the mechanical arm, the pre-tightening compensation mechanism and the first positioning wheel assembly and then is connected with the rope fixing plate to form a tension compensation loop for the first rope. The two-section continuum structural design is adopted, kinematics dimension reduction is achieved, and the multi-direction bending capacity can be achieved in a narrow space through bionic optimization. A combined type pre-tightening mechanism with a spring and a pulley combined is adopted, rope deformation is passively compensated through an elastic element, and dynamic tension maintaining is achieved.

The invention belongs to the technical field of continuum robots, and discloses a variable-rigidity and driving combined continuum robot and an optimization design method thereof.The variable-rigidity and driving combined continuum robot comprises a second section, a middle transition section, a first section, a first section rope and a second section rope, and the second section and the first section are connected through the middle transition section; each of the second section and the first section comprises a plurality of wire guiding discs and a plurality of check rings, every two adjacent wire guiding discs are connected through the corresponding check ring to form a cylindrical pair joint, and the four first section ropes and the four second section ropes are evenly distributed relative to the center line of the continuum robot; the four first section ropes are used for driving two mutually perpendicular degrees of freedom of the first section, the four second section ropes are used for driving two mutually perpendicular degrees of freedom of the second section, and the second section and the first section move independently. The continuum robot does not need to be assembled, is flexible in movement, controllable in rigidity and small in friction force, and improves the interaction and sensing ability with the environment during operation.

It provides the following solutions: the system includes subsystems such as an integrated management and evaluation subsystem, and constructs a ship six-degree-of-freedom motion model. A thrust calculation model is built for the problem of propeller thrust affected by broken ice during the propulsion process. By treating broken ice as independent moving objects, the motion of broken ice is solved to obtain the relative motion speed between the ship and broken ice. The influence of broken ice on propeller performance is considered by incorporating the relative speed between the ship and broken ice into the propeller modeling process, which acts on the aforementioned model. The annular crack method is used to determine the breaking shape of level ice, and the generated broken ice is close to real-world conditions.

A surgical stapling system comprising an actuator system operable to generate independent motions and a stapling end effector responsive to the independent motions generated by the actuator system is disclosed. The stapling end effector comprises a staple cartridge jaw comprising a plurality of staples removably stored therein, an anvil jaw, and a firing member. The firing member comprises an anvil-engaging portion and a cartridge jaw-engaging portion configured to engage the staple cartridge jaw.

The invention relates to the technical field of stress detection equipment, and discloses building steel structural member stress detection equipment which comprises a base, an adjusting ring is fixedly arranged on the base, and a first detection piece for detecting stress at the two ends of a steel structural member is arranged on the adjusting ring; the adjusting ring is provided with a second inspection part for detecting the stress of the middle section of the steel structural part, and the adjusting ring is provided with a pushing part for enabling the steel structural part to move; the J-shaped connecting groove is matched with the pulley, non-impact conversion from horizontal movement to vertical movement is achieved, jumping generated during lifting of the placing piece is avoided, the size design of the avoiding groove provides an independent movement space for the first sensor, the movement interference risk is thoroughly eliminated, sliding friction is converted into rolling friction through bearing matching of the pulley and the rotating shaft, and the stability of the sensor is improved. And through the symmetrical layout of the connecting grooves, the stress on the two sides of the placing piece is balanced, side inclination during lifting is avoided, and it is ensured that the posture of the steel structural piece is stable.

The invention provides a motion platform for analog simulation and a control method thereof. The motion platform comprises a base, a first motion platform, a second motion platform and a control system. The first motion platform and the second motion platform are arranged on the base in a stacked mode, each of the first motion platform and the second motion platform is driven by an independent motion mechanism, and motion decoupling is achieved. The first movement platform serves as a middle platform and is connected with the base through the three first movement mechanisms. The second motion platform serves as an upper platform and is connected with the first motion platform through three second motion mechanisms. The control system can control operation of the first movement mechanism and / or the second movement mechanism, so that the position and angle of the first movement platform and / or the second movement platform are changed, and multi-pose simulation is achieved. According to the motion platform, the three-degree-of-freedom design of double-platform superposition is adopted, the structural form is simple, few computing resources are consumed in the settlement control process, and the control precision and efficiency are high.

The invention discloses a multi-degree-of-freedom cooperative or independent movement type adsorption transferring device which comprises an X-axis transferring unit, a Y-axis transferring unit, a Z-axis transferring unit and an adsorption head. On one hand, on the premise that X-axis, Y-axis and Z-axis multi-degree-of-freedom transferring is met, through synchronous and same-direction movement unfolding and folding of the multi-stage telescopic arms and the follow-up supporting parts and guide rolling supporting of unfolding and folding of the telescopic arms provided by the roller guide supporting parts, the use requirement for lengthening of the displacement stroke in the same axial direction is met, and the multi-degree-of-freedom transferring device has the advantages of being high in transferring precision, low in displacement deviation rate and high in practicability. Unfolding and folding are stable; and on the other hand, the loading displacement requirement is increased based on avoidance and butt joint transfer of the two adsorption modules, meanwhile, when the two adsorption modules extend in the axial direction to be lengthened, other axial directions can move to form cooperative expansion and contraction so as to form precise displacement, and in addition, the transfer assembly is compact in layout and small in occupied space.

The invention discloses an underwater grabbing task-oriented double-software mechanical arm cooperation method, which is characterized by comprising the following steps of S1, establishing an automatic machine model of an underwater cooperative grabbing task of a double-software mechanical arm system; s2, on the basis of the automaton model established in the step S1, an upper-layer task planner is established in combination with a supervision and control theory; and S3, when the double-software mechanical arm system works, the sensed underwater sensing signals are abstracted into discrete events, the discrete events serve as input of an upper-layer task planner to trigger the upper-layer task planner to generate action instructions, and the generated action instructions are issued to independent motion controllers of the two mechanical arms respectively. According to the method, a perception-action sequence is described in a formalized mode based on an automaton model, an upper-layer task planning problem is converted into a supervision control problem to obtain a feasible task planner, and the upper-layer planning requirement of an underwater grabbing task is met.

This invention relates to a force feedback handle and its control method, belonging to the field of human-computer interaction technology based on tactile and force sensing. The force feedback handle is not only miniaturized but also has advantages such as low moment of inertia and good response, making it applicable to gantry crane operation, robot manipulation in extreme environments, and helicopter towing. The force feedback handle of this invention exhibits independent motion in two degrees of freedom, requiring no decoupling. In use, by interactively controlling the position of the handle in both degrees of freedom with the feedback force—that is, increasing the absolute value of the position in one degree of freedom corresponds to a corresponding increase in the damping force in the other—accidental activation can be prevented.

The application discloses a kind of variable width motion operation integrated module mechanical arm under narrow environment, this mechanical arm is based on modularization, multiple variable width modules are combined with joint module.In joint module, driving motor drives each variable width module to swing in two directions, so that the mechanical arm bends to any direction to complete the work in each scene.The application has flexible telescopic mechanism on each variable width module and multi-section linkage, quickly realizes the change of fuselage width, and has additional motion module, the tip end moves according to the predetermined curve by cam link mechanism.Each variable width module adopts transmission shaft transmission to realize variable width function and additional motion function linkage, control is simple and light in weight, relative to traditional mechanical arm, mechanical arm can be independently moved to specified position for work without manual handling in necessary scene, fuselage adopts special mechanism design, ensure structural strength while lightening, improve stability.

The present application relates to the medical robot control and precision testing technical field, especially related to a kind of kinematics parameter closed-loop calibration method and device of surgical robot end effector.The method is first set up reflection unit on surgical robot end effector, and the motion data of driving unit and the light spot position data detected by photoelectric detection unit are collected;Control surgical robot end effector executes rotary scanning movement to carry out coordinate correction to light spot position data;Each independent motion axis of surgical robot end effector is driven respectively, and according to the mapping relationship of corrected light spot position data and motion data, the transmission parameter and hysteresis parameter of each independent motion axis are identified;Drive the motion axis with coupling relationship, identify inter-axis coupling coefficient, and configure kinematics calibration model to control system.The present application effectively eliminates steel wire transmission coupling and system geometric error through step-by-step optical feedback and geometric self-calibration, and improves the operation precision of end effector.

System for the rehabilitation of patients with upper limb spasticity due to acquired brain injury or neurodegenerative diseases, said system comprising a sensor glove designed to capture the range of motion and / or muscle resistance of the affected hand; a hand exoskeletal device comprising a plurality of servomotors, each configured to cause the independent motion of a finger of the affected hand; a user interface that processes sensor data and further comprises an exercise management environment that includes a plurality of predefined exercise routines; and an online dashboard that enables the patient / physician to monitor the results of the exercises performed by the patient. Said system combines sensor technology, real-time monitoring and analysis, rehabilitation games and an online dashboard to provide a comprehensive and engaging rehabilitation experience for patients with upper limb spasticity. Said system has been designed to be able to be used both in clinically controlled environment as well as for self-rehabilitation at patients' home.

The invention discloses a horizontal electroplating wafer conveying manipulator which integrates five sets of independent motion modules, namely a lifting module, a transverse moving module, a rotating module, a straight moving module and an overturning module, five-axis linkage control is achieved, and compared with a traditional single-degree-of-freedom conveying device or a few-degree-of-freedom conveying device, the horizontal electroplating wafer conveying manipulator has the advantages that the conveying efficiency is improved; and the manipulator can achieve quick and accurate multi-dimensional movement in a complex environment, and the carrying efficiency and flexibility are greatly improved.

The invention discloses an independent motion controller, and relates to the technical field of motor shells, the independent motion controller comprises an outer shell, a processor and an adjusting module, the outer end of the outer shell is provided with a controller, the two sides of the exterior of the outer shell are provided with touch assemblies, the middle end of the interior of the outer shell is provided with the processor, and the top end of the processor is provided with a motor. The outer end of the motor is connected with a synchronous belt, and the other end of the synchronous belt is provided with a winding assembly. After the communicating seat is communicated with the first electrifying seat, the processor can electrify the vibration sensor through the communicating seat and the first electrifying seat, vibration generated after the vibration sensor is electrified can be sensed by a worker holding the equipment at the moment, and through the operation, the vibration sensor can transmit a sent signal to the worker; most use scenes of sports equipment are in a relatively high-noise and relatively complex environment, so that an instruction completion signal can be quickly, conveniently, accurately and efficiently transmitted by adopting a mode of transmitting a signal to a hand of a worker through a vibration sensor.

The invention provides a variable mechanical limit static and dynamic dual-mode torsion test fixture, which comprises at least one fixture body, the fixture body comprises a base and a motion torsion device, the base comprises a bottom plate and two side plates, and the bottom plate and the two side plates define a test piece channel for accommodating a test piece; the motion torsion device comprises a shell, a torsion chuck and a servo motor, the torsion chuck is movably mounted in the shell and used for fixing a test piece, and the servo motor is used for driving the torsion chuck to rotate; and the motion torsion device can slide in the test piece channel. The motion torsion device is arranged in the base in a sliding manner, and the mechanical limit of the motion torsion device can be adjusted in the horizontal direction, so that the fixture adapts to slender strip-shaped test pieces with different lengths, the universality of the fixture is remarkably improved, and the application range of the fixture is remarkably widened; a plurality of independent motion torsion devices can be arranged on the base at the same time, the same or different torsion angles and cyclic loading modes can be applied to different sections of the same test piece, and the experiment function of the clamp is expanded.

The invention discloses a rope-driven cross-medium mobile robot and a control method thereof, and belongs to the field of mobile robots. The robot is provided with three motors which move independently, three waveforms of different phases can be generated, when the three motors move cooperatively, the robot reciprocates among the waveforms of the three different phases, and the mobile robot is driven by three sets of ropes to generate continuous fluctuation. The fluctuating motion is not only suitable for complex land environments, but also suitable for swimming in water, so that the cross-medium motion of the mobile robot is realized.

The invention relates to the technical field of human-computer interaction, and discloses a motion track reproduction method and device, computer equipment and a storage medium. The method comprises the steps of collecting respective motion data of a first object and a second object; based on the motion data, acquiring spatial change information of the first object relative to the second object, including relative pose change and relative position change of the first object; spatial change information of the first object relative to the second object is analyzed, and independent motion data, including pose change and position change, of the first object in the space relative to the second object is separated; and reproducing a motion track of the first object based on the independent motion data. The motion data of the first object and the motion data of the second object are subjected to conjoint analysis, the relative space relation between the first object and the second object is analyzed, interference factors generated by driving of the second object are effectively eliminated, the independent motion data of the first object are extracted, and misjudgment caused by coupling influence in a traditional method is avoided.

A method of transmitting communications from a buoy placed in a body of water having the steps of: first determining a first orientation of the buoy relative to a communication target; second determining a second orientation of the buoy relative caused by the body of water; third determining whether a transmission can reach the communication target; and transmitting communications in a directional manner to the communication target if the step of determining determines that a transmission can reach the communication target. A sense control unit is likewise disclosed as are various systems and methods.

The application discloses a control method for cooperative carrying of a double SCARA robot, and also discloses a system of the first and second SCARA robots which jointly hold a workpiece through end effectors. The method comprises the following steps: in a cooperative control mode, the first robot moves independently according to a preset trajectory, and the second robot keeps a relative position with the first robot; a desired position and force are obtained according to environmental constraints; positions and forces of the two robots are collected in real time; the first robot adopts a position control strategy, and outputs a force through a proportional differential control law based on a position error according to position feedback; and the second robot adopts a damping control strategy, and outputs a speed correction amount through a proportional differential control law based on a force error according to force feedback. The application realizes decoupling of the position and the force through differentiated control, and improves carrying stability, precision and adaptability. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying of precise or fragile workpieces.

The invention provides a synchronous linkage XAFS measuring device and method based on a Rowland circle, and belongs to the technical field of X-ray analysis and measurement. The device comprises a fixedly-arranged X-ray source, an actively-driven rotating arm, a motion platform, a crystal monochromator, a detector, a corresponding connecting rod and a sliding rail assembly. The rotating arm rotates around a light source excitation point of the X-ray source, the motion platform is driven to move by utilizing the Rowland circle geometry principle, and meanwhile, automatic adjustment of the Bragg angle of the crystal monochromator and synchronous tracking and positioning of the detector are achieved through the constraint effect of the fixed connecting rod and the telescopic connecting rod. According to the device, an X-ray diffraction light path is always kept on a dynamic Rowland circle, the optimal focusing condition of the light path is ensured, the measurement precision and efficiency of an X-ray absorption fine structure spectrum are improved, the measurement process is simplified, positioning errors caused by multi-axis independent movement in a traditional device are eliminated, and the device is suitable for fine structure analysis in the fields of material science, chemistry, physics and the like.

An apparatus tor assembling metal cages, formed by longitudinal rods and transversal stirrups, eases the carpenters ' work by allowing to select and place precisely the stirrups and the rods. Thanks to a frame consisting of fixed and movable members, the stirrups are locked in the desired position according to the selected format. A first lifting system allows to raise or lower the whole cage during the assembly phases, whereas a second system allows the independent motion of the longitudinal rods with respect to the stirrups, without interferences, The apparatus also facilitates the positioning in height of the cage, by favouring ties and welds to fix the components in the definitive position.

A motion dependency surgical robotic system (100) employs an independent robotic arm (20), a dependent robotic arm (21), and a motion dependency robot controller (104). In operation, the motion dependency robot controller (104) controls an independent motion of the independent robotic arm (20) within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm (20) within the coordinate space, and further controls a motion of the dependent robotic arm (21) within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm (20) and the dependent robotic arm (21) within the coordinate space.

The invention discloses a control method for cooperative carrying of double SCARA robots, and further comprises a system of a first SCARA robot and a system of a second SCARA robot, and the first SCARA robot and the second SCARA robot jointly clamp a workpiece through an end effector. The method comprises the steps that a cooperative control mode is adopted, a first robot independently moves according to a preset track, and a second robot keeps a relative position; acquiring an expected position and an acting force according to environmental constraints; acquiring positions and acting force of the two robots in real time; the first robot adopts a position control strategy and applies a proportional differential control law output acting force based on a position error through position feedback; and the second robot adopts a damping control strategy, applies a force error-based proportional differential control law through acting force feedback, and outputs a speed correction amount. Decoupling of the position and force is achieved through differential control, and the carrying stability, precision and adaptability are improved. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying precise or vulnerable workpieces.

A planar two-degree-of-freedom parallel piezoelectric stick-slip platform belongs to the field of piezoelectric precision driving and comprises an output platform, a guide rail mechanism, a support frame, a base and a piezoelectric stick-slip driving mechanism, the piezoelectric stick-slip driving mechanism is mounted on the base; the output platform is arranged on the guide rail mechanism, and the guide rail mechanism is arranged on the supporting frame and used for guiding and motion decoupling of the output platform so as to achieve two-degree-of-freedom independent motion of the output platform in the horizontal plane. The output platform is in contact with an output foot at the top of the piezoelectric stick-slip driving mechanism, and when the piezoelectric stick-slip driving mechanism is powered on, the output foot outputs displacement to drive the output platform to move. Large-stroke motion can be achieved, the coupling error of motion in all directions is reduced through the parallel connection mechanism, the output control precision is high, output two-degree-of-freedom translation can be achieved, and the parallel connection mechanism can be used for micro-operation of tiny parts.

Optical flow refers to the pattern of apparent motion of objects, surfaces, and edges in a visual scene caused by the relative motion between an observer and a scene. Optical flow algorithms can be used to detect and delineate independently moving objects, even in the presence of camera motion. The present invention uses optical-flow algorithms to detect and remove marine snow particles from live video. Portions of an image scene which are identified as marine snow are reconstructed in a manner intended to reveal underwater scenery which had been occluded by the marine snow. Pixel locations within the regions of marine snow are replaced with new pixel values that are determined based on either historical data for each pixel or a mathematical operation, such as one which uses data from neighboring pixels.

The present invention discloses a polar ship navigation simulation system and modeling method, which relate to the field of ship and ocean engineering. The system solves the problem that the existing polar ship navigation mainly considers the influence of ice on the hull motion performance, but lacks consideration of the influence of crushed ice on propeller thrust. The present invention provides the following scheme, wherein the system includes subsystems such as a comprehensive management and evaluation subsystem, and constructs a six-degree-of-freedom motion model of the ship; a thrust calculation model is constructed for the problem of the influence of crushed ice during propeller propulsion, and the crushed ice motion is solved by treating the crushed ice as an independent moving object and obtaining the relative motion speed of the ship and the crushed ice. In the propeller modeling process, the influence of crushed ice on propeller performance is considered by taking into account the relative speed between the ship and the crushed ice, and the influence is applied to the model; the annular crack method is used to determine the crushed shape of flat ice, and the generated crushed ice is close to the real situation. It is also suitable for providing specific simulated navigation training for crew members sailing in polar regions.

The utility model discloses a leg muscle training device, which relates to the field of fitness equipment, and adopts the technical scheme that the leg muscle training device comprises a main support used as a main supporting structure of the training device, and the main support can be placed on the ground; the human body supporting part is arranged on the main bracket; the motion part comprises two swing pieces, one end of each swing piece is rotationally connected with the main support or the human body supporting part; the counterweight part is fixedly connected with the other end of the swinging part; and the positioning piece is arranged on the swinging piece and is used for positioning the ankle position. The training device has the advantages that the main support of the training device is of a split structure and is convenient to transfer and transport, the main support is connected very simply and simplified into two joints, and assembly difficulty is avoided for common users. According to the scheme, the two swing pieces capable of independently moving are arranged, the body orientation of a user is adjusted, training of two actions of front kicking and rear leg hooking can be conducted, and shaping of leg muscles is facilitated.

The invention relates to a control method for decoupling of a double-input double-output system, in particular to a motion decoupling system and method of a fast reflector, and solves the problem that existing motion decoupling cannot effectively decouple coupling caused by orthogonal imbalance of a motion axis and coupling caused by orthogonal imbalance of an actuator and a position sensor. And independent movement of each shaft and accurate feedback of the rotation angle of each shaft by a position sensor are difficult to realize. The system comprises a double-coordinate autocollimator, a data processing unit and a control unit, and the control unit is used for transmitting a motion instruction to the actuator and controlling the data processing unit to correct the position sensor by using the motion decoupling matrix of the position sensor so as to realize two-axis decoupling of the fast reflecting mirror. The method provided by the invention can effectively decouple the coupling caused by the orthogonal imbalance of the motion axis and the coupling caused by the orthogonal imbalance of the position sensor, and realizes the independent motion of each axis and the accurate feedback of the position sensor on the rotation angle of each axis.