588 results about "Kinematic chain" patented technology

A haptic interface was designed and developed for use in manipulation tasks. The mechanism consists of a closed kinematic chain. The force feedback mechanism consists of three degrees of spatial force feedback (X, Y and Z directions) and 1 degree of grasping/parting (increasing the distance between two or more points) force feedback. The three degrees of spatial force feedback are comprised of three independently actuated prismatic joints along orthogonal coordinate axes. The one degree of grasping/parting force feedback consists of a two thimbles with rotary motion for grasping and parting tasks using one's fingers. This device also provides a net of three additional passive joints for a total of 7 degrees-of-freedom.

A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.

A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.

The invention relates to a high-speed parallel robot with four degrees of freedom comprising four kinematic chains (1) articulated at one of their ends to a mobile platform (4) carrying the tool (5) and at their other end, through a rotational joint (2), to an actuador integral with a base plate (3). The mobile platform (4) is formed by four members (11), (11′), (12), (12′), linked together by means of articulated linkages (13), at least two of the members being parallel to each other, forming an articulated mobile platform with one degree of freedom in the plane of the mobile platform. The actuators are positioned with any orientation in the base plate (2) and preferably at 45°, 135°, 225° and 315°.

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

In a motor vehicle, a deflecting device (11) for an offset frontal collision for the motor vehicle is arranged in front of a front wheel (6). In order, in the event of a collision, to safely pivot the front wheel inward, the deflecting device (11) forms a kinematic chain, the coupling link of which is a deflector (12) which, under the action of a frontal impact, is pivoted to the rear and is displaced toward the outside of the vehicle. The kinematic chain is a slider crank mechanism comprising a swinging arm (13) which is pivotable about a bearing (14), a further bearing (16), a sliding guide (16) and the coupling link (12) which is connected to the outer end of the swinging arm at a pivot point (15) and is guided in the further bearing (16).

The invention discloses a parallel mechanism with changeable freedom degree, comprising a fixed platform and a movable platform arranged above the fixed platform, three kinetic chains with the same structures are uniformly connected between the fixed platform and the movable platform; each kinetic chain comprises a cylindrical pair connecting rod I, one end of the cylindrical pair connecting rod I is connected with one end of a cylindrical pair connecting rod II through a cylindrical pair, the other end of the cylindrical pair connecting rod I and the other end of the cylindrical pair connecting rod II are respectively provided with Hooke's joints with changeable configuration, outer ring side surfaces of ring units of two Hooke's joints with changeable configuration are respectively and fixedly connected with the other end of the cylindrical pair connecting rod I and the other end of the cylindrical pair connecting rod II, and U-shaped piece connecting rods of the two Hooke's joints with changeable configuration are respectively and fixedly connected with the fixed platform and the movable platform. The kinetic branched chain in the invention has the freedom degrees 4, 5 and 6 and is capable of changing among the three freedom degrees. The parallel mechanism is capable of changing the freedom degree between two arbitrary figures from 1-6.

A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled. The parallel kinematic structure further comprises a moveable end-effector section coupled with the output sections of the anti-planar joint arrangements.

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.

A method for determining the proper configuration of a fixator or other medical device to correct a given deformity by solving the simultaneous equations representing the kinematic chain for the device. One skilled in the art would appreciate that x-rays, clinical evaluations, or a combination of both may be used to determine the distal and proximal mounting characteristics, including the use of digital x-rays with images from an imaging device to reduce or eliminate the needs for a physician to take measurements. The technique can be expanded to other medical evaluations. Additionally, one skilled in the art would appreciate that the method of the present invention could be written as one or more sets of instructions stored on a computer-readable medium that could be executed by a computer.

A parallel robot includes a base, a movable platform, a first kinematic chain and a second kinematic chain. The first and the second kinematic chains are connected to the fixed platform and the movable platform respectively, and move on the same plane. Each of the first and second kinematic chains includes a linear driving mechanism mounted on the base and a parallel four-bar linkage driven by the linear driving mechanism and hinged on the movable platform.

A legged robot having a robot structure (20) in the form of a closed kinematic chain and an actuator (26) that contracts when activated. The contraction of the actuator extends a foot element (30) such that it can excerpt a pushing force against a ground surface. When the foot element excerpts sufficient force the legged robot can separate from the ground surface and achieve a dynamic hopping motion.

A parallel robot includes a base plate, two first actuators located on the base plate, a mobile platform, and two kinematic chains respectively interconnecting the base plate and the mobile platform. Each kinematic chain includes a driving bar assembly and a driven bar assembly. The driving bar assembly is connected to one of two first actuators. The driving bar includes two substantially parallel first transmission bars. Each of the first transmission bars includes a rotating portion rotatably connected to the base plate. The driven bar assembly interconnects the driving bar assembly and the mobile platform. Each of the two first actuators rotates two rotating portions of the two first transmission bars in the same direction simultaneously.

The invention discloses a 3UPS parallelly connected metamorphic mechanism for a lower limb rehabilitation robot and is applied to the field of rehabilitation robots. The parallelly connected metamorphic mechanism comprises a base and single-side parallely connected metamorphic mechanisms which are connected to the base and symmetrically arranged relative to the base in a left-right mode, each parallelly connected metamorphic mechanism comprises a motion platform, motors, kinematic pair locking mechanisms and three kinematic chains connecting the base and the motion platform. The 3UPS parallelly connected metamorphic mechanism for the lower limb rehabilitation robot achieves the unidirection wide-range bend and stretch motion and three freedom degree small-range rotation of the hip joint respectively through two states formed by opening and locking one of the revolute pair of a hook joint on one side or in the middle, different rehabilitation requirements of people are met, and the efficiency is improved; the hip joint of the human body is considered as part of the mechanism, the unidirection rotation and the three freedom degree rotation all move around the center of the hip joint, interference to human body self movement can not occur, and the rehabilitation processes are facilitated.

A chair, such as a conference or office chair, includes a seat support; a backrest support; a storage member formed as a force storage element; and a transmission coupling the seat support with the backrest support which allows a pivoting of the backrest support and the seat support between an upright position and a backwardly pivoted position according to a predetermined sequence of movements. The force storage element is coupled with the seat support and the backrest support such that the predetermined sequence of movements is facilitated and the storage member provides a force restoring in the upright position and wherein the flexibly elastic storage member forms in conjunction at least with a first articulated rotation point of the transmission a kinematic chain.

In an aerofoil profile with variable profile adaptation and rigid rib structure, the aerofoil profile has a flexible rib structure with rib elements, which are arranged in segments and are articulated to one another in the form of a kinematic chain in order to transmit movement, a skin panel capable of sliding on this and also at least one driving means for moving the flexible rib structure.

A parallel kinematic machine (PKM) with three active kinematic chains and a leg has improved precision and stiffness maps by: providing drive and actuation of each active kinematic chain by devices secured rigidly to a support structure so that only a fixed length leg of the chain is suspended; driving the fixed length leg of the active kinematic chain to move in a direction oblique to a direction of the fixed length leg; and providing a prismatically jointed leg that is rigidly secured to the base structure and coupled by an effectively universal joint to the motion platform.

The invention discloses a parallel combined mechanism of three rotation degrees of freedom, comprising a mounting bracket, a moving platform, between the mounting bracket and the moving platform is provided with a middle support and three moving branched chain of same structure and coaxial symmetry uniform arrangement, the moving branched chain comprises a slider and a connecting rod, the slider is connected with the mounting bracket by a shifting pair; the connecting rod can be used that one end is connected with the end terminal of the slider by a hook joint, the other end is connected with the moving platform by a ball joint; the connecting rod can also be used that one end is connected with the end terminal of the slider by a ball joint, the other end is connected with the moving platform by a hook joint. The parallel combined mechanism of three rotation degrees of freedom has the advantages that using a structure of external pair drive to reduce the quality of the moving chain, easy to realize high-speed movement, and good mechanism dynamic property, suitable for the parallel robot, parallel machine tool and inching robot and other occasions.

The invention relates to a micrometric displacement regulation device, in particular to a combined type transmission variable-angle micrometric displacement regulation device comprising a fixed base,a worm gear, a worm, a screw rod, a push rod, joint bearings and a regulation and fastening part. By regulating a handle at one end of the worm, the worm and the worm gear are engaged to realize primary transmission. The center of the worm gear provides a thread hole, and secondary transmission is realized by a thread pair and the screw rod. The rotary motion of the screw rod is restricted by a flat key, and the push rod only can be pushed along a linear direction. Both ends of the push rod are respectively arranged with the joint bearing, and the push rod pushes a working platform to realizeangle rotation or linear displacement motion. The invention also can adopt a motor for control. A worm shaft is connected with a motor shaft by a shaft coupling, and the motor is connected with a computer by a driving control system to realize control. A displacement sensor can be arranged on the screw rod and used for measuring the displacement quantity of the screw rod at real time. The entire control system can adopt an open-loop or closed-loop system. The invention has compact layout and simple kinematic chain and ensures the regulation accuracy. The invention can be used by combining a single set or a plurality of sets so as to meet the regulation requirement of different angles or displacements of the working platform. The invention is especially suitable for an occasion for regulating the displacement or angle with moderate accuracy in a micron magnitude or an arc second magnitude.