10 results about "Kinematic coupling" patented technology

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.

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 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 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.

A position indicating device for indicating the position of a movable section of a bearing element relative to a fixed section, in particular a spring or constant force hanger, an impact damper, a shock absorber and / or an articulated strut, comprising a mechanical movement transmission for transmitting the movement of the movable section of the bearing element, an indicating device for coupling to the movement transmission and for indicating the movement of the movable section of the bearing element, the indicating device having a hollow cylinder and a carrier movably supported in the hollow cylinder and in movement coupling with the movement transmission, wherein the hollow cylinder comprises a longitudinal slot in which a radially outwardly running transverse peg which moves together with the carrier extends, the transverse peg being configured for moving at least one extreme value indicator arranged radially outside the hollow cylinder. Also related to a bearing device which is in movement coupling with such a position indicating device.

The present invention relates to a coupling system (1) between a robotic arm (2) and a surgical or dental instrument (3), the coupling system (1) being formed by a single interconnecting piece (10) comprising on the one hand a kinematic coupling portion (11) intended for coupling with the robotic arm (2) and on the other hand a coupling cap (12) for coupling with the surgical or dental instrument (3) along a longitudinal coupling axis (B-B).

The application relates to the technical field of intelligent equipment, in particular to a tank chain. The application provides a tank chain structure which comprises a first chain link and a second chain link. The first chain link and the second chain link are alternately connected and rotationally matched, so that a single chain realizes XY bidirectional movement under the guidance of a slide, without needing two independent chains, thereby saving equipment installation space. The slide rigidly restricts the chain track, the complex support structure of the traditional double chain is omitted, the chain link modular design and the slide inflection point guidance are combined, bidirectional movement coupling can be naturally realized without additional synchronous control, the equipment installation and debugging difficulty and the structural design complexity are reduced. A single chain needs only one set of basic support system, a large number of parts are reduced compared with the traditional scheme, the hardware configuration is simplified, the manufacturing cost is reduced, and the maintenance convenience is improved.

There is provided a touch bar assembly for releasing a bolt, the touch bar assembly comprising: a touch bar for actuation by a user; an action slider coupled to the touch bar for retracting the bolt; a motor arranged to drive a linear actuator between a retracted position, a neutral position and a blocking position, the linear actuator coupled to the action slider by a coupling, wherein the linear actuator and coupling are configured such that in the blocking position retraction of the action slider is blocked, and the coupling couples motion of the linear actuator from the neutral position to the retracted position into retraction of the action slider to retract the bolt. There may also be provided a motor assembly with brake.

The application provides a full decoupling MEMS gyroscope, and belongs to the technical field of MEMS gyroscopes.The full decoupling MEMS gyroscope comprises a substrate, a mass unit, a detection unit and a driving unit arranged on the substrate.The mass unit comprises two groups of mass components distributed along the X direction, and each mass component comprises two mass mechanisms distributed along the Y direction.The detection unit comprises two groups of detection components, and each detection component is arranged in one-to-one correspondence with a mass component.The detection component comprises a detection mechanism and a suppression mechanism, and the suppression mechanism comprises two groups of fixing structures distributed on both sides of the detection mechanism along the X direction.The driving unit is used for receiving an external input electrical signal, and the driving unit drives the two groups of mass components to move reversely along the X direction under the action of electrostatic force.The full decoupling MEMS gyroscope aims to suppress the orthogonal coupling detection error caused by the coupling of driving motion to the detection structure, and can suppress the common-mode interference signal generated by external vibration and impact, thereby improving the detection precision.