6 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 present invention discloses a method for measuring the center of mass of an object based on an IMU chip in the technical field of object center of mass measurement, comprising the following steps: performing a heavy liquid experiment on the object to determine the position of the center of mass line and the suspension point of the cycloid of the object; performing a simple pendulum experiment on the object to determine the length of the center of mass of the object from the starting end of the cycloid according to the swing period of the object, and then obtaining the position of the center of mass; an IMU chip is provided on the object to measure the swing period of the object. A method for obtaining the period of the object's simple pendulum motion can be obtained by extracting the regularity of the object's acceleration signal collected by the IMU chip. Whether the object is regular or not, whether it rotates or not, it will not affect the measurement of the simple pendulum motion period, and the center of mass of the measured object is not limited by the shape or volume of the object, and the cost is low and the operation is simple.

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.

The invention discloses a mass center measuring method and device based on a lifting appliance and a storage medium. The lifting appliance comprises two vertically-intersected suspension arms, and a first lifting hook is arranged at the intersection of the two suspension arms; a tilt angle sensor is arranged on the horizontal plane of each suspension arm; a sliding rail is arranged below each suspension arm, and a sliding block is arranged on each sliding rail; the method comprises the following steps: adjusting a slide block on a slide rail to enable the reading of a tilt angle sensor arranged on the horizontal plane of each suspension arm to be zero; hoisting the measured object away from the ground by using hoisting equipment; the sliding block on the sliding rail is adjusted again, and the reading of each tilt angle sensor is made to be zero again; recording the mass borne by each rotary hanging ring; establishing a two-dimensional coordinate system by taking the first lifting hook as a coordinate center, and calculating a centroid coordinate of the measured object based on the two-dimensional coordinate system and the mass; the mass center of the object can be rapidly and accurately measured through a simple mechanical structure and moment calculation, and the mass center measuring device is suitable for field operation and low in cost.