4 results about "Mass center" patented technology

An actuator for coupling to a rotatable object, the actuator being configured to be primarily activated by Euler forces arising from rotational acceleration of the rotatable object about an object pivot point of the rotatable object, the actuator comprising a first coupling arrangement and second coupling arrangement, each coupling arrangement being configured to be pivotally coupled to the rotatable object by a respective coupling arrangement pivot point, wherein each coupling arrangement comprises a first outer pivot point and a second outer pivot point radially offset from the coupling arrangement pivot point, wherein the respective first outer pivot points are operatively coupled by a first body, and the respective second outer pivot points are operatively coupled by a second body, such that a center of mass of each body is radially offset from the object pivot point when the actuator is coupled to the rotatable object.

The application provides a stacking machine anti-rollover control method, an electronic device, a storage medium and a program product. The method comprises the following steps: acquiring an operating state parameter of a vehicle, and calculating a center of mass position of the vehicle based on the operating state parameter; wherein the state parameter comprises a load weight and a load height; based on the center of mass position, a driving speed and a tire angle, calculating a rollover torque generated when the vehicle turns and a stable torque resisting rollover; when a steering action is detected, comparing the rollover torque with the stable torque; if the rollover torque is greater than or equal to the stable torque, dynamically limiting the hydraulic flow of a steering oil cylinder according to the current driving speed; based on the current tire angle, the center of mass height and the wheelbase of the vehicle, calculating a maximum allowable driving speed, and when the current driving speed is greater than the maximum allowable driving speed, controlling the driving motor to brake so that the vehicle is slowed down to not exceed the maximum allowable driving speed.

The invention provides a method and a device for determining traction force and start-stop speed of a wing moving tool, the structure form of the moving tool is a square-shaped frame which is symmetrical along the length direction and the width direction, and the moving tool comprises a wing root upright post, an upper beam, a wing tip upright post, a lower beam and a wheel set, the method comprises the following steps: determining the size of each component of the movable tool, the mass of each component, the gravity center position of the movable tool, the rotational inertia of the movable tool around a rotating shaft passing through the mass center and the number of wheel sets; acquiring a friction coefficient between the movable tool wheel set and the ground; and a traction force and start-stop speed constraint equation in the start-stop process of the moving tool without overturning is established, and the constraint range of the traction force and the start-stop speed in the start-stop process of the moving tool without overturning is determined. According to the invention, the wing tool can be ensured to run safely without overturning in the moving process.

This invention belongs to the field of robot dynamics modeling and online parameter identification, and specifically discloses a method and system for online identification of load mass and center of mass in a dual-arm closed-chain handling scenario. The method includes: estimating joint friction torque based on the joint feature vectors under robot load conditions, and removing it from the measured joint torque under load conditions to obtain the friction-free joint torque, thereby obtaining the joint residual torque; introducing an internal force suppression regularization term through an internal force suppression coefficient to construct a contact force screw solution model; adaptively determining the internal force suppression coefficient based on the joint residual torque and solving the contact force screw solution model to obtain the net external force screw of the object; outputting the joint observation reliability based on the current joint state, propagating errors through closed-chain force mapping, and constructing a task space weight matrix; obtaining the load mass and center of mass position based on the task space weight matrix and the net external force screw of the object. This invention can achieve high-precision identification of load mass and center of mass position.