76 results about "Kinematic coupling" patented technology

The invention relates to a clamping control method of a movable mechanical arm. The clamping control method is used for solving the problem of collaborative optimization of stability and precision in clamping operation. According to the method, a motion coupling factor and a contact force gradient mode length are calculated in real time through a dynamic coordination module, base-world coordinate system conversion is combined to realize bidirectional constraint of chassis speed and mechanical arm torque, instability caused by sudden load change is inhibited, a time-varying sliding mode surface and an anti-buffeting control law are adopted for sliding mode control, and the stability of a mechanical arm is improved. Dynamic boundary layer thickness and adaptive gain are introduced, control parameters are further optimized through a double-delay depth deterministic strategy gradient, and a multi-target reward function is designed. According to the method, the robustness of the system is remarkably improved through closed-loop optimization, and the stability and precision of the movable mechanical arm in the clamping operation are improved.

To provide a film deposition apparatus and film deposition method, capable of enhancing the positioning accuracy of a mask, and a method for manufacturing an electronic device.SOLUTION: A film deposition apparatus 1 forms a thin film on a substrate held by an electrostatic chuck through a mask 16 held on a mask frame 15 placed on a mask stand 33 by a film deposition material discharged from an evaporation source 5 in a chamber. Kinematic coupling fitting positions the mask stand 33 and the mask frame 15, and the mask 16 has a protrusion pressed when positioning the mask frame 15 on the mask stand 33.SELECTED DRAWING: Figure 1

The invention relates to the technical field of automatic guided vehicle control, in particular to a multi-differential wheel set AGV trajectory tracking method and system, and the method comprises the steps: building a special kinematics forward / inverse solution model, and determining the speed and angle mapping relation between a driving wheel and the center of a vehicle body; constructing a double-layer framework of upper-layer pure tracking trajectory tracking and lower-layer wheel set cooperative control, and introducing a steering cooperative optimization strategy; an intelligent self-correction mechanism is set, and a strong correction mode or a smooth correction mode is selected according to the deviation distance; and deep fusion of a pure tracking algorithm and a special chassis is realized, and a complete closed-loop control system is formed. The system comprises a chassis module, a kinematics modeling module, a double-layer control module, a self-correction module and a closed-loop feedback module. According to the method, the problems of poor adaptability, motion coupling, unbalanced heavy AGV tracking precision and stability and the like of a traditional algorithm are solved, high-precision trajectory tracking is realized, tire wear and energy loss are reduced, the robustness of the AGV in a complex environment is enhanced, and the method is suitable for heavy and heavy-load AGVs.

The invention relates to the technical field of robot control, and discloses a robot multi-mechanical-arm cooperative anti-collision control method and system.The method comprises the steps that a three-dimensional Cartesian global reference coordinate system with a kinematics pivot point as an original point is established, inner and outer side operation domains are divided, and outer side virtual nodes are defined; a virtual safety monitoring section is constructed in an outer side driving domain, a dynamic rejection light spot is generated, and collision early warning is generated through position and trend composite judgment; mapping the virtual repulsive force into equivalent joint damping torque, and superposing the equivalent joint damping torque to a current control ring of the servo driver; by means of kinematics reverse deduction and virtual force field construction, mathematical reconstruction of the outside non-sensing blind area state is achieved on the premise that an external sensor is not needed, and external connecting rod hidden physical collision caused by'cohesion and divergence 'motion coupling of multiple mechanical arms is effectively prevented through force sense feedback of a current control ring level.

The invention provides a multi-modal motion asymmetric soft actuator and application thereof, and belongs to the technical field of soft robots. The present invention comprises: at least one bending chamber for converting air pressure energy into directional bending motion; the at least one torsion chamber and the bending chamber are physically separated to form an independent bending chamber and an independent torsion chamber, and the bending chamber and the torsion chamber are respectively connected with an independent gas circuit; an asymmetric structure is arranged in the torsion chamber and is used for directly converting air pressure energy into rotating torque around the central axis of the module; by independently controlling air pressure input of the torsion chamber and the bending chamber which are asymmetrically arranged, torsion and bending motion can be independently achieved in a single module. According to the invention, an asymmetric structure is adopted as a whole, independent driving chambers with special functions and physical isolation are integrated in a single module, a mode of indirectly synthesizing torsion through motion coupling of a plurality of symmetrical chambers is abandoned, torsion motion in a target direction is directly output, and a driving source and control logic are simplified.

Kinematic couplings for affixing an end effector to a robotic arm covered in a surgical drape are provided. A kinematic coupling can include one or more attachment mechanisms for affixing the kinematic coupling to the robotic arm with or without piercing the surgical drape positioned thereover. The kinematic coupling can be configured to interchangeably engage with a number of different end effectors, including surgical instruments, cutting guides or jigs, tool holders, and so on.

The invention relates to the technical field of fully-mechanized coal mining automation control, and discloses a hydraulic support lifting control method and device based on flow proportion and attitude feedback, and the method comprises the steps that a controller establishes a physical parameter model, and the controller calculates the target flow of a stand column oil cylinder and the target flow of a bottom lifting oil cylinder according to a kinematics coupling model; the controller executes a feedforward and fuzzy PID composite control strategy, the controller generates a feedforward instruction and combines the feedforward instruction with the feedback control quantity to synthesize a final valve control instruction, and the controller drives the electro-hydraulic control valve set to act; the controller monitors the synchronous error of the adjacent hydraulic supports and corrects a final valve control instruction, and the controller monitors the speed matching state and executes attitude priority deviation correction; the controller judges whether lifting is completed or not according to the displacement of the stand column oil cylinder, the displacement of the bottom lifting oil cylinder and the pitch angle of the hydraulic support, and the controller executes valve port smooth closing logic. According to the invention, the track tracking precision and the dynamic response speed of the lifting frame are improved, the action synchronism and the attitude stability are ensured, and hydraulic impact is eliminated.

Disclosed herein are tracking element fixation elements for affixing computer-assisted surgical system (CASS) tracking elements to a patient. Fixation systems provide kinematic coupling or clamping functionality that allows tracking elements (attached to a tracker arm) to be repeatedly and accurately detached and re-attached to facilitate removal when necessary, such as for point probe data collection, during impaction, bone movement, and / or the like. Fixation systems may include a baseplate and a tracker arm configured to be kinematically coupled to the baseplate via a magnet associated with independent ball bearings or contacts extending from a bottom surface of the magnet. The ball bearings or contacts are configured to be received within corresponding grooves of the baseplate. The baseplate may include one or more protrusions extending from a bottom of the baseplate that are configured to be impacted into the cortical bone of the patient.

A film forming apparatus includes a movable stage; a substrate holder supported by the movable stage and configured to hold a substrate; a coupling configured to couple the movable stage and the substrate holder; and a curing unit configured to cure a curable composition on the substrate, wherein the coupling includes: a kinematic coupling; and an attraction force generator configured to generate, between the movable stage and the substrate holder, an attraction force for fixing the substrate holder to the movable stage.

In an actuator device for a process chamber (12), in which process material, for example wafers (15), can be treated or processed under process conditions, wherein movable functional components are associated with the process chamber (12), and wherein the actuator device (11) has at least one actuator (18), which is provided with an output element (19) which can be moved by means of the actuator (18) for handling an associated functional component, the actuator (18) has an output chamber (21) which is associated with the process chamber (12), has a longitudinal axis (22) and is within an output housing (23), and in which the output element (19) is movably guidingly accommodated, via which the output chamber (21) is encapsulated in a process-medium-tight manner in relation to the environment in the use state, wherein the actuator (18) also has a drive part (29) arranged outside the output chamber (21), which interacts magnetically with the output element (19) via a magnetic coupling device (30) in such a way that the drive part (29) and the output element (19) are contactlessly motion-coupled by magnetic forces to form a movement unit.

The application relates to the technical field of robot control, and discloses a robot multi-mechanical arm cooperative anti-collision control method and system, which comprises the following steps: a three-dimensional global reference coordinate system with a kinematic pivot point as the origin is established, an inside and outside work area is divided, and an outside virtual node is defined; a virtual safety monitoring section is constructed in the outside driving area, a dynamic repulsion spot is generated, collision early warning is generated through position and trend compound judgment; the virtual repulsion force is mapped into equivalent joint damping torque, and is superimposed into a servo driver current control loop; the application realizes mathematical reconstruction of the outside non-perception blind area state without an external sensor through kinematic reverse deduction and virtual force field construction, and effectively prevents implicit physical collision of external connecting rods caused by the 'cohesion and external dispersion' motion coupling of the multi-mechanical arms through force feedback of the current control loop level.

The invention discloses a robot path planning method for manufacturing a revolving body based on the powder DED process, belonging to the technical field of additive manufacturing. The revolving body workpiece model is mixed sliced, and the model is divided into a cylindrical part and a hanging part. The former is axially sliced, and the latter is radially sliced. The outer contours and filling line segments of all slices are optimized to generate a slice filling path as the absolute trajectory for final execution. A kinematic coupling model of a six-degree-of-freedom robotic arm and a two-axis positioner is established. The base coordinate system of the robotic arm, the base coordinate system of the positioner, the cladding head coordinate system, and the workpiece coordinate system are converted to the world coordinate system. Under the constraint of ensuring that the cladding head nozzle at the end of the robotic arm is perpendicular to the printing surface and the ground, the absolute trajectory is assigned to the robotic arm and the positioner, and the two cooperate in a linkage manner according to the assigned trajectory. With the aid of the linkage and cooperation of the six-degree-of-freedom robotic arm and the two-axis positioner, and benefiting from the degree-of-freedom redundancy of the eight-axis robot system, the invention achieves printing with the optimal robot posture.

A sterile barrier assembly for releasably attaching between a robotic arm and an end effector. The assembly includes a drape configured to cover the robotic arm and an interface coupled to the drape. The interface has a body with opposing first and second sides, a coupling extending through the body to provide first and second coupling interfaces, and multiple kinematic couplers extending through the body such that portions of each coupler protrude from both sides. The interface is bi-directionally mountable to the first and second mounting portions in two installation configurations. In each configuration, the coupling interfaces and kinematic coupler portions on one side engage one mounting portion, while those on the opposite side engage the other, enabling reversible connection.

The invention provides a load response analysis method under a fault state of an airplane high lift device, and relates to pneumatic and motion coupling analysis and airplane high lift device fault analog simulation and test verification, and the method comprises the following steps: planning a fault condition analysis matrix; simplifying and pre-processing the wing model; carrying out simulation analysis under each incoming flow speed in a normal state based on the existing simplified model; designing and finishing a wind tunnel verification test in a normal state and a fault working condition; confirming and verifying a normal state analysis method and a calculation model based on test data; constructing parameterized simulation models under different fault working conditions based on the verified model; load response analysis under the fault working condition is completed; verifying the load response analysis result based on the wind tunnel verification test data under the fault condition; and obtaining a final load displacement response process result of the high lift device in the fault state.

A cart-borne ultrasonic imaging system hasa cart housing;a control panel or a support for a portable ultrasound unit; andan articulating arm assembly to which the control panel, or the support is connected. The articulating arm assembly has arms pivotally connected with a first joint rotatably mounted on the cart and a second joint rotatably mounted on the control panel, or the support. At least one of the arms includes a 4-bar linkage,A locking mechanism restricts motion of the articulating arm assembly and comprises electromagnetic elements controllable to exert magnetic force on movable actuating elements. The moveable actuating elements havea friction mass with corresponding braking element to restrict rotation of the first joint and / or of the second joint and / ora locking member kinematically coupled with main damping member to restrict its movement and that of the 4-bar linkage.

The invention relates to a star wheel for guiding containers (4) in a container handling system, comprising a star wheel with a plurality of pockets (11) on the outer circumference of the star wheel for receiving one container (4) in each pocket (11) and radially adjustable adjusting elements (5) for adapting the pockets (11) to different container diameters, wherein each pocket (11) is assigned at least one radially adjustable adjusting element (5) which forms a radially adjustable support shoulder for the containers (4) in the pocket (11), wherein the radially adjustable adjusting elements (5) are kinematically coupled to one another by means of a centering disk (8) and the adjustment of the adjusting elements (5) is synchronous in the radial direction.

The invention discloses an electromechanical coupling closed-loop simulation system for a dual-rotor flux-adjusting motor and a modeling method of the electromechanical coupling closed-loop simulation system. The electromechanical coupling closed-loop simulation system comprises a main winding electrical sub-model, a secondary winding electrical sub-model, an inner rotor mechanical sub-model and an outer rotor mechanical sub-model, an electromagnetic torque part generated by the main winding electrical sub-model is input into the inner rotor mechanical sub-model, and the remaining part of the electromagnetic torque generated by the main winding electrical sub-model and the electromagnetic torque generated by the secondary winding electrical sub-model are input into the outer rotor mechanical sub-model. And the outer rotor mechanical sub-model and the inner rotor mechanical sub-model respectively send feedback signals back to the main winding electrical sub-model and the secondary winding electrical sub-model. According to the electromechanical coupling closed-loop simulation system and the modeling method thereof, the structure is clear, calculation is efficient, the core internal and external torque distribution and motion coupling mechanism of the double-rotor flux-adjustable motor is grasped, the simulation accuracy is guaranteed, and a reliable theoretical basis is provided for motor body design optimization and control system performance prediction.

Fully automatic electronic armored door lock, comprising a lock housing (1), characterized in that the lock housing (1) includes a bolt (2), an electronic control module (3), an inside handle control module (4), a mechanical key control module (5) and a motion coupling structure (7), wherein the motion coupling structure (7) is drive-connected to the bolt (2), wherein the electronic control module (3) electrically drives the motion coupling structure (7) and the mechanical key control module (5) and the inside handle control module (4) mechanically drive the motion coupling structure (7), and wherein the motion coupling structure (7) is connected to a spring return structure;wherein the motion coupling structure (7) comprises a motion coupling sliding plate (71) on the side surface of which a straight toothing (712) is provided, wherein a motion coupling rod (72) is rotatably mounted on the motion coupling sliding plate (71) on which a camshaft (721) is fixedly mounted, wherein the motion coupling sliding plate (71) is connected to the latch (2) and the lower end of the motion coupling sliding plate (71) is integrally connected to a projecting edge (711).

The application provides a nanometer vision micro-control robot system and a control method thereof, and relates to the technical field of micro-nano operation robots.The application adopts a composite configuration of a large-stroke motion module, a multi-degree-of-freedom manipulator and a micro-positioning module, specifically, the large-stroke motion module provides macro movement ability for finding a target, the multi-degree-of-freedom manipulator provides flexible posture adjustment ability for approaching the target, and the micro-positioning module provides nanometer-level accurate positioning ability for final operation, and through the control system, the Cartesian space error of the end is mapped and distributed to each joint through inverse kinematics calculation, so that parasitic displacement caused by joint coupling of the multi-degree-of-freedom manipulator is effectively decomposed and compensated; meanwhile, through real-time tuning of PID parameters, the remaining unmodeled dynamics and disturbances can be effectively coped with, so that the whole system can still show high control precision and stability when facing multiple complex nonlinear factors such as vacuum dry friction, hysteresis and motion coupling.

The invention discloses a multi-dimensional vibration platform with double sandwich type piezoelectric actuators arranged in the same direction and an excitation method of the multi-dimensional vibration platform, and relates to the field of high-frequency vibration engineering and micro-nano machining. Aiming at the problem that a traditional piezoelectric vibration platform is difficult to realize higher-dimension multi-degree-of-freedom operation capability, the piezoelectric vibration platform comprises an output platform, two piezoelectric actuators, two end covers and two bolts. The piezoelectric actuator is provided with a longitudinal vibration ceramic set and two bending vibration ceramic sets arranged in the orthogonal direction, and through excitation of voltage signals with the same phase or the phase difference of 180 degrees, rotation around the X axis, the Y axis and the Z axis and translation along the X axis and the Y axis are achieved. Due to structural symmetry and driver arrangement constraint, Z-direction translation is strongly coupled with an existing mode, so that high-practicability five-degree-of-freedom output is focused. The same-direction arrangement type design is adopted, the characteristic of low motion coupling is achieved, and displacement deformation of the piezoelectric actuator can be converted into different actions needed by multi-dimensional vibration of the tail end platform. The method is suitable for the fields of laser processing, vibration-assisted processing, micro-nano operation, active vibration suppression and the like.

The present invention provides a rotating cage (3) configured to rotate by a power source (M); a balance spring oscillator (7) supported by a rotating cage (3); an escapement (9) carried by the rotating cage (3) and configured to cooperate with the oscillator (7) to maintain its oscillation, the escape wheel (11) being integrally mounted in rotation on an escapement pinion (15) pivotally mounted relative to the rotating cage (3) and meshing with teeth (17) carried by the frame element; According to the invention, the mechanism further comprises a display element (23) kinematically coupled to the escape wheel (11) and indicating the minutes of the time division.

The invention relates to a circuit breaker (1) for high-voltage applications, comprising: at least one switching-on and switching-off unit (10) having a first contact (12) and a second contact (14) for forming an electrically conductive connection in a connection region (16), the first contact (12) having an outlet (20) arranged remote from the connection region (16) for an insulating gas passing through the connection region (16) and through the first contact (12), and the second contact (14) having an outlet (20) for an insulating gas passing through the connection region (16) and through the second contact (14); the first contact (12) can be moved by a displacement distance (24) along an axially extending switching axis (22) of the circuit breaker (1) between a closed position in which the electrically conductive connection is formed and an open position in which the electrically conductive connection is broken. A gas compression cylinder (30) coupled in motion with the first contact (12) and defining a cylinder volume (34) for the insulating gas, where the cylinder volume (34) can be varied by means of a piston (48) sliding in the gas compression cylinder (30) when the first contact (12) is moved, where the gas compression cylinder (30) comprises a passage (36) extending between the cylinder volume (34) and the connection region (16).

A connector mechanically fastens a first component to a second component. The first component has at least a first coupling groove which has a first undercut, effective along a groove depth direction. The second component has at least a second coupling groove which has a second undercut, effective along a groove depth direction. The connector is plate-like or flat-bar-like. The connector has a first engagement element for anchoring in the first undercut and a second engagement element for anchoring in the second undercut. The connector has an urging member for positioning at least part of the first engagement element in the first undercut and at least part of the second engagement element in the second undercut. The urging member is kinematically coupled to the first engagement element and the second engagement element. A component connection also includes the first component, the second component, and a connector of this type.

Devices, methods, and systems are provided for autonomous tool exchange systems for automated and semi-automated intraocular surgical procedures. According to various embodiments of the present invention, for example, there is a tool exchange system for an autonomous intraocular surgical robot. The system includes a removable, rotatable tool carousel configured to be releasably engaged with a rotating base, the tool carousel having a plurality of tool assembly docks each disposed about the tool carousel, each tool assembly dock adapted for kinematic coupling to a kinematic coupling of a surgical tool holder assembly, and each surgical tool holder assembly including an end effector kinematic coupling adapted and configured to couple with a corresponding kinematic coupling of a robot end effector while the surgical tool assembly is engaged with the tool assembly dock. Other embodiments are described herein.

The present invention relates to a configuration method for a heavy-load force-motion coupling parallel mechanism, comprising the following steps: S1, based on the screw theory and the force balance condition of the parallel mechanism, determining the optimal load-bearing criterion of the branch of the parallel mechanism: the driving force provided by the branch is consistent with the direction of the externally applied load; S2, based on the force-increasing effect at the extreme position of the connecting rod mechanism, determining the minimum drive load criterion of the parallel mechanism: the driving force provided by the driving joint is orthogonal to the direction of the driving force provided by the branch; S3, combining the optimal load-bearing criterion of the branch with the minimum drive load criterion, determining the optimal force-bearing criterion of the parallel mechanism; S4, coupling the optimal force-bearing criterion of the parallel mechanism with the motion constraint screw, and deriving and proposing a heavy-load force-motion coupling synthesis process; S5, performing branch synthesis and structural synthesis on the parallel mechanism containing spatial rotational motion. The present invention provides a new method for the synthesis of heavy-load parallel mechanisms, which further improves the application prospects of parallel mechanisms under heavy-load conditions.

The present invention discloses a variable stiffness joint, a working method and a control algorithm, belonging to the field of exoskeleton robots. It includes a driving motor, an input shaft, a variable stiffness adjustment mechanism and an output connecting piece; the variable stiffness adjustment mechanism includes a motion coupling module and a pre-tightening force adjustment module, which are connected between the input shaft and the output connecting piece for transmitting power and quantitatively adjusting the stiffness characteristics of the joint. The structure of the present invention is compact, and it can change the stiffness characteristics of the joint by three ways, namely, adjusting the pre-tightening force of the spring, changing the topological form of the wire rope winding, and replacing the flexible element, as well as the combination of multiple ways. It can absorb the vibration at the end of the robotic arm and effectively reduce the damage caused by collisions to the human body and the exoskeleton. On the basis of ensuring safety and comfort, it realizes human-robot collaborative operation.

Provided are a film forming apparatus capable of enhancing positioning accuracy of a mask, a film forming method, and a method for manufacturing an electronic device.　A film forming apparatus 1 forms a thin film on a substrate held by an electrostatic chuck through a mask 16 held by a mask frame 15 placed on a mask base 33 by using a film forming material discharged from an evaporation source 5 in a chamber. The apparatus is characterized in that the mask base 33 and the mask frame 15 are positioned by fitting a kinematic coupling, and the mask 16 is provided with a projecting part that is pressed when the mask frame 15 is positioned on the mask base 33.

The utility model relates to precise positioning platform technical field discloses a big stroke two -dimensional piezoelectric nanometer positioning platform, it includes upper cover, bottom cover and shell. Upper cover and bottom cover between be equipped with piezoelectric drive unit. Piezoelectric drive unit includes 1 X -axis piezoelectric drive mechanism, 1 Z -axis piezoelectric drive mechanism and adapter plate. The fixed end of Z -axis piezoelectric drive mechanism is connected with bottom cover. The mobile end of Z -axis piezoelectric drive mechanism is connected with one end of adapter plate. The other end of adapter plate is connected with the fixed end of X -axis piezoelectric drive mechanism. The mobile end of X -axis piezoelectric drive mechanism is connected with upper cover. The utility model discloses through with X -axis piezoelectric drive mechanism, adapter plate, Z -axis piezoelectric drive mechanism series connection, realized X -axis, Z -axis two -dimensional super -precision movement, with the advantage that motion coupling is small, and repeat positioning precision is high, and compact structure. Piezoelectric drive unit adopts amplification body structure, satisfies big stroke demand. Multiple piezoelectric drive units parallel has the characteristics of big load.

The application discloses a parallel decoupling motion platform, which comprises a bottom plate, a rotating output table, two rotating input groups and driving members, the rotating output table is located above the bottom plate and is used for carrying objects, rotating shafts of the two rotating input groups intersect with each other, each rotating input group comprises two rotating input tables, the two rotating input tables of each rotating input group are respectively located at two ends of the rotating shaft of the rotating input group, the rotating input tables are connected with the upper surface of the bottom plate, the driving members are two, and each driving member is connected with one rotating input group, wherein, four motion transmission assemblies are arranged on the rotating output table, each motion transmission assembly is connected with one rotating input table, the motion transmission assembly has high rigidity in the direction of the rotating shaft of the rotating input group connected with the motion transmission assembly, and the motion transmission assembly has weak rigidity in the direction perpendicular to the rotating output table. The parallel decoupling motion platform can solve the motion coupling problem in the parallel implementation scheme, is convenient to control and is favorable for practical application.

The invention relates to an assembly (1) for guiding a movable furniture part (2), preferably a sliding door or a folding sliding door, on a fixed furniture part (3), comprising a first guide system (4) to be fastened to a fixed furniture part (3) and at least one second guide system (6) to be fastened to the fixed furniture part (3) at a vertical distance (5) from the first guide system (4), the two guide systems (4, 6) each having at least one guide rail (7, 8) and a guide body (9, 10) displaceably mounted on the guide rail (7, 8); a carrier (11) to which the movable furniture part (2) is to be fixed and which can or has been connected in a kinematically coupled manner to the two guide bodies (9, 10) of the guide system (4, 6); and a compensation device (15) for compensating a tilting moment (12) of the carrier (11) or of the movable furniture part (2) arranged thereon about a tilting axis, the compensation device (15) comprising at least one cable device (16); wherein at least one pretensioning device (17) is provided, by means of which the carrier (11) can be acted upon at least in the closed state of the movable furniture part (2), preferably in the direction of the longitudinal extension of the guide rails (7, 8) of at least one of the guide systems (4, 6).