8 results about "Independent motion" patented technology

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 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.

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.

This invention discloses a test chamber with omnidirectional motion, comprising a chamber body, a first driving device, and a second driving device. The first driving device is located below the second driving device, and the chamber body is connected to the second driving device. The first driving device can drive the second driving device and the chamber body to move back and forth, and the second driving device can drive the chamber body to move left and right. A clamping device is provided within the chamber body, and the clamping device can be adjusted to clamp test workpieces of different sizes. This invention, through the coordinated operation of the first and second driving devices, achieves independent and combined movements of the chamber body in both the back-and-forth and left-and-right directions, realistically simulating the multi-directional displacement state of the test workpiece under actual working conditions, significantly improving the dynamics and realism of environmental testing.

The application relates to a composite transmission structure and simulation equipment, wherein the composite transmission structure is applied to the simulation equipment and comprises a support, a first motion mechanism, a second motion mechanism and an output shaft; the support comprises a first support section and a second support section fixedly connected; the first motion mechanism is connected to the first support section; the second motion mechanism is installed on the second support section of the support; the output shaft is connected with an output end of the second motion mechanism; the first motion mechanism is used for driving the output shaft to do linear motion; and the second motion mechanism is used for driving the output shaft to do rotary motion. Therefore, by arranging two groups of independent motion mechanisms corresponding to driving linear motion and rotary motion of the output shaft, composite transmission output in two different dimensions is realized; and the motion of the first motion mechanism and the second motion mechanism does not interfere with each other, effectively solving the problems that the traditional simulation equipment transmission structure is single, cannot synchronously realize linear and rotary composite motion or interference between transmissions is serious.

The application provides a 4WID-4WIS overdrive mobile robot motion control system, which comprises an environment perception module, a behavior decision module and a motion control module; the environment perception module is used for acquiring current state information and surrounding environment information of the robot and constructing a unified state description based on a multi-sensor fusion mode; the behavior decision module takes the state vector output by the environment perception module as input, outputs a current optimal action mode number through a strategy network, and corresponds to a predefined motion control mode; the motion control module is internally provided with multiple motion control modes, each mode corresponding to an independent motion controller; after receiving the action mode number output by the behavior decision module, the motion control module is automatically switched to the motion control mode and outputs executable bottom-layer control instruction signals. The application adopts a reinforcement learning mode to make behavior decisions, avoids precise modeling of a complex overdrive system, and reduces the influence of modeling errors on control performance.

This invention relates to the field of fully autonomous robots, specifically to a small, unmanned, autonomous six-legged robot capable of climbing trees and a method for doing so. The small, unmanned, autonomous six-legged robot capable of climbing trees includes a body; the body is equipped with six robotic legs, arranged in pairs and mounted at the front, middle, and rear ends of the body; each pair of robotic legs has at least four movement postures: clinging to the tree, releasing, moving forward, and moving backward, and each robotic leg can move independently; the body contains a central control system capable of receiving wireless signals for remote control and / or autonomous control of the movement of the six robotic legs. Compared with existing technologies, the six-legged robot of this invention exhibits higher stability in its special tree-climbing gait, and its specially fitted foot claws provide a more stable fixation to the tree. Simulations of the selected materials and structural stress show that the foot claw structure can support the six-legged robot's ability to stay and move on the tree.

This invention relates to a hollow multi-jointed foreign object handling robot suitable for confined and complex spaces. The robot's rope-driven robotic arm can pass through holes in the lower grid partition to enter the bottom of the reactor core for foreign object handling. The lower end of the hollow extension rod is connected to the hollow flexible robotic arm, and the upper end of the hollow extension rod is connected to a pumping module, which in turn is connected to a drive box module. The hollow flexible robotic arm comprises two independently moving joint segments, each driven by three active drive ropes. The first segment is a coarse positioning continuous arm with a long joint pitch, similar to a human arm, providing a larger working space and enabling the robotic arm to cover a wider area. The second segment is a fine positioning continuous arm with a short joint pitch, similar to a human finger, providing precise motion control. The robot's robotic arm is a hollow multi-jointed flexible body, driven by Bowden cables, and a suction pipe is installed inside the robotic arm, allowing for the removal of foreign objects from designated locations without removing reactor core components.