270 results about "Parallel motion" patented technology

The parallel kinematic machine (PKM) trajectory planning method is operable via a data-driven neuro-fuzzy multistage-based system. Offline planning based on robot kinematic and dynamic models, including actuators, is performed to generate a large dataset of trajectories, covering most of the robot workspace and minimizing time and energy, while avoiding singularities and limits on joint angles, rates, accelerations and torques. The method implements an augmented Lagrangian solver on a decoupled form of the PKM dynamics in order to solve the resulting non-linear constrained optimal control problem. Using outcomes of the offline-planning, the data-driven neuro-fuzzy inference system is built to learn, capture to and optimize the desired dynamic behavior of the PKM. The optimized system is used to achieve near-optimal online planning with a reasonable time complexity. The effectiveness of the method is illustrated through a set of simulation experiments proving the technique on a 2-degrees of freedom planar PKM.

This invention is a surgical clamp for the purpose of occluding the kidney or other organ and thereby obtaining a bloodless surgical field, while allowing the majority of the organ to remain normally perfused. Previous approaches are limited in ability to provide sufficient clamping force without damaging the oran. The invention comprises a first and second jaw, wherein the proximal ends of the two jaws, and the distal ends of the two jaws are connected by a strap, such that applying tension to the strap results in moving the relative positions of the jaws in a substantially parallel motion, which provide a clamping force to the organ. The jaws can be attached with a flexibly joint to a hollow shaft, such that a cable inside the shaft can be used to apply tension to the strap while maintaining the ability to pivot the jaws relative to the shaft.

The invention discloses a distributed spacecraft ground simulation system and a method for realizing same, belonging to the technical field of space flight and aviation. The invention aims at solving the problems that the configuration of the simulation platform of a prior distributed spacecraft is solidified and the expandability is bad. The invention adopts a one-dimensional rotational base air floated platform which is based on a plane two-dimensional parallel motion and is perpendicular to a parallel motion plane. By configuring a cooling air thrustor and a counteractive flywheel as an executing mechanism and configuring a high-precision optical fibre gyro, an x-axle accelerometer and a Y-axle accelerometer as a sensing component, the definition of a high-precision relative position and the standardization of an initiate posture can be realized by a high-precision local GPS positioning system, and other hardware systems can be configured according to different tasks, thereby forming a multi-spacecraft ground simulation system. The invention can realize the ground simulation multi-spacecraft system by configuring different practical hardwares or simulators according to the task of the spacecraft, thereby having strong expansion capability and applicability.

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.

The invention belongs to the technical field of measurement, and relates to an improvement to a calibration method of structured light parameters in 3D vision measurement of structured light. The invention provides a calibration method of the structured light parameters based on a one-dimensional target. After a sensor is arranged, a camera of the sensor takes a plurality of images of the one-dimensional target in free non-parallel motion; a vanishing point of a characteristic line on the target is obtained by one-dimensional projective transformation, and a direction vector of the characteristic line under a camera coordinate system is determined by the one-dimensional projective transformation and a camera projection center; camera ordinates of a reference point on the characteristic line is computed according to the length constraint among characteristic points and the direction constraint of the characteristic line to obtain an equation of the characteristic line under the camera coordinate system; the camera ordinates of a control point on a plurality of non-colinear optical strips are obtained by the projective transformation and the equation of the characteristic line, and then the control point is fitted to obtain parameters of the structured light. In the method, high-cost auxiliary adjustment equipment is unnecessary; the method has high calibration precision and simple process, and can meet the field calibration need for the 3D vision measurement of the large-sized structured light.

The invention discloses a parallel motion simulation platform with a load-bearing mechanism. The parallel motion simulation platform mainly comprises a basic platform, a motion platform, a load-bearing platform, six driving branches, a first load-bearing branch and at least three second load-bearing branches, wherein the structures of the six driving branches are totally the same, and the structures of the at least three second load-bearing branches are totally the same; the six driving branches are connected with the motion platform and the basic platform, and thus a parallel driving mechanism is formed; the first load-bearing branch and the second load-bearing branches are connected with the load-bearing platform and the basic platform, and thus a parallel load-bearing mechanism is formed; the six driving branches are all of UPS (Uninterrupted Power Supply) structures and are formed by electric cylinders, first ball hinges and first universal hinges; the first load-bearing branch is of a UPU (Uninterrupted Power Unit) structure and is formed by a balance hydraulic cylinder or balance air cylinder, a second universal hinge and a third universal hinge; and the second load-bearing branches are of the UPS structures and are formed by balance hydraulic cylinders or balance air cylinders, second ball hinges and fourth universal hinges. According to the parallel motion simulation platform disclosed by the invention, the load bearing capacity is strong, the dynamic response speed is quick, the control is simple, the parallel motion simulation platform is suitable for indoor and field environments, and additional load caused by the load-bearing mechanism is simultaneously reduced.

A six-freedom-degree heavy load static balance parallel motion simulation table mechanism with a balancing mechanism mainly comprises a moving platform, a foundation platform, a bearing platform, six driving branches exactly the same in structure and three balancing branches exactly the same in structure. The moving platform, the foundation platform and the driving branches for connecting the moving platform and the foundation platform form a parallel driving mechanism. The bearing platform, the foundation platform and the balancing branches for connecting the bearing platform and the foundation platform form a parallel balancing mechanism. The six driving branches are of a UPS structure which is composed of an electric cylinder, a first ball hinge and a first universal hinge. The three balancing branches are of a UPU structure which is composed of a balanced hydraulic cylinder or a balanced air cylinder, a second universal hinge and a third universal hinge, and the bearing platform is connected with the moving platform through the second ball hinge. The six-freedom-degree heavy load static balance parallel motion simulation table mechanism is strong in bearing capability and fast in dynamic response, the balancing mechanism has no inertia force (moment) when the moving platform rotates, the bearing platform has a vertically upward force on the moving platform, and no component in other directions exist.

An automated machining head with vision and procedure includes a pressure foot provided with side windows with the capacity to open and close, encasing the machining tool, associated with a vertical movement device provided with mechanical locking, vision equipment connected to a computer and a communications module. The main advantage is endowing an anthropomorphic robot, originally designed for the car industry and with relatively low accuracy, with a notably higher machining accuracy, equivalent to equipment of a much greater accuracy or to parallel kinematic-type robots, also compensating, in real-time and in a continuous manner, for off-centring and loss of perpendicularity by the pressure foot, which are common in conventional heads and are a source of errors and inaccuracy.

The invention relates to the technical field of a polishing machine, in particular to a series parallel motion polishing machine with six degrees of freedom. Universal hinges with three degrees of freedom at one end of two equilong fixing rods in each group are improved into the universal hinges with different level heights on the basis of a long parallel mechanism of the prior three-slider fixing rod so that the capability of a motion platform to resist side force and bending moment is improved; and the lower part of the motion platform is connected with another three pivot shafts in series so that a workpiece can perform the motion with six degrees of freedom. Compared with the prior art, the series parallel motion polishing machine solves the difficulty for a low-cost automatic polishing machine, and in particular solves the automation of performing coarse polishing and precise polishing on a water faucet of a space multidimensional curved surface with a complex art shape, and achieves the unmanned operation production.

The invention discloses a quadruped robot with a parallel waist structure. The robot comprises a machine frame, the parallel waist structure and four parallel mechanical legs, wherein the machine frame comprises a front machine frame part and a rear machine frame part which are connected through the parallel waist structure, and the parallel waist structure has four freedom degrees; the four parallel mechanical legs are evenly installed on the two sides of the front machine frame part and the rear machine frame part, each parallel mechanical leg has three freedom degrees relative to the machine frame, and the front machine frame part and the rear machine frame part each have six freedom degrees for three-dimensional parallel motion and three-dimensional rotation under the cooperation of the parallel waist structure and the four parallel mechanical legs; the parallel waist structure comprises an auxiliary branch chain and four main branch chains with the same structure evenly distributed around the auxiliary branch chain. The body posture of the foot movement robot is changeable, movement is quick and flexible, terrain adaptability is high, obstacle crossing ability is high, and the robot is suitable for high-speed work under the complicated non-structural topographic condition.

An improved massaging device for obtaining a massaging effect similar to an actual finger massage. Multiple finger-like implements provide soft wide area skin contact, and generate a vibratory motion consisting of a pulling massage combined with a lateral side motion. The device comprises means of reciprocally moving rows of massaging implements in opposition while reciprocally moving each row in combined normal and parallel unison. In one embodiment, the lateral opposing motion is combined with the normal pulling motion by means of lifting curved implements through fixed but adjustable spaced narrow openings. The lifting motion is generated from an eccentric mechanism, which when rotatably driven, may also produce the lateral parallel motion. Lateral parallel motion amplitude may be adjusted relative to the pulling motion by choice of eccentric dimensions.

A three-transfer-one-shift four-degree-of-freedom heavy-load static-balance parallel motion simulation stand mechanism mainly comprises a basic platform, a motion platform, a load-bearing platform, four driving branches in identical structures and three balancing branches in identical structures. The four driving branches are connected with the motion platform and the basic platform to form a parallel driving mechanism. The three balancing branches are connected with the load-bearing platform and the basic platform to form a parallel balancing mechanism. The four driving branches are in uninterrupted power supply (UPS) structures and are composed of electric cylinders, first spherical hinges and universal hinges. The balancing branches are in RPS structures and are composed of balancing hydraulic cylinders or balancing air cylinders, first revolving pairs and second spherical hinges. The motion platform is connected with the load-bearing platform through a second revolving pair. The mechanism is high in bearing capacity, fast in dynamic response speed, simple to control, capable of preventing the three balancing branches from generating moments of rotation around a shaft and reducing the inertia force (moment) of a parallel load-bearing mechanism simultaneously and applicable to motion simulation of large devices, and the mechanism can be used indoors or in a field environment.

The invention relates to a four-degree-of-freedom posture leveling mechanism which comprises a movable platform, a fixed platform and four branch chains. The first branch chain comprises a ball pair, a first connecting rod, a first hook pair, a first driving block, a first moving pair and a first square column which are sequentially connected. Or the first branch chain comprises the ball pair, the first connecting rod, a first revolute pair, the first driving block, a cylinder pair and a cylinder which are sequentially connected. The second branch chain comprises a second hook pair, a second connecting rod, a second revolute pair, a second driving block, a second moving pair and a second square column which are sequentially connected. The first branch chain and the third branch chain are of the same structure and are arranged at opposite corners. The second branch chain and the fourth branch chain are of the same structure and are arranged at opposite corners. The four-degree-of-freedom posture leveling mechanism has the beneficial effects that the structure is simple, motion is simple comparatively, and control is concise comparatively; a novel machine type is provided for parallel motion equipment such as small-degree-of-freedom multi-dimensional vibration absorption, flight simulation, grabbing mechanisms, and the development and functionization of the parallel motion equipment are made possible.

The invention relates to a method for producing round network multifunctional device, which comprises a band intermission operator. The invention is characterized in that a flat network printer and a round network printer are distributed from the cloth inlet to the cloth outlet of the band intermission operator, wherein the flat network printer is disposed with a sliding support with a flat network stencil, a reciprocal drawing parallel motion transmitter at one side of the sliding support, and a lifting support for mounting the transmitter and the sliding support, and a lifting driver. The round network printer comprises a frame, a round network printer base on a track to reciprocally parallel move, and a reciprocal parallel motion transmitter for drawing the round network printer base. The round network printer base is disposed with a round network printer for continuously round network printing. The invention can combine flat network print and round network print, to improve product quality.

The invention relates to a structure parameter-adjustable parallel motion table with combined spring bearing branches. The table comprises a base platform, a movement platform, six active branches of the same structure, three spherical hinge connection combination blocks of the same structure, three universal hinge connection combination blocks of the same structure and three passive bearing branches of the same structure; each active branch is compose of an electric cylinder and a motor; two ends of each active branch are respectively connected with the movement platform and the base platform through a corresponding spherical hinge connection combination block and a corresponding universal hinge connection combination block; each passive bearing branch is composed of a guide rod, a guide sleeve, a first bearing spring, a second bearing spring and a bearing spring guide sleeve; and two ends of each passive bearing branch is respectively connected with the movement platform and the base platform through spherical hinges with bases. According to the structure parameter-adjustable parallel motion table, the platforms have strong bearing capacity, and control on the active branches and the passive branches is simple. The structure parameter-adjustable parallel motion table is suitable for multi-purpose simulators and multi-purpose stabilization platform.

A spatial motion mechanism with single-degree-of-freedom for vibrating screens and parallel motion entertainment devices consists of a moving platform, a quiet platform and three second-accessory rod chains. Three ends of the three chains are connected to the three misaligned endpoints on the moving platform respectively by ball pairs, wherein the two another ends of the two chains are connected to a frame respectively by single-degree-of-freedom revolute pairs. The two rotation axes of revolute pairs are parallel to each other. Another end of one chain is connected to the frame by the ball pairs. The two rotation pairs and one ball pair on the frame are not on the same straight line. When a single-degree-of-freedom rotation pairs of a control frame moves, the moving platform can obtain the output of translation and rotation, wherein the two movements is non-independent; when the screen frame of the vibrating screen or the frames of other entertainment device on the moving platform is consolidated, the three-dimensional movement is generated. The mechanism has the advantages of simple structure and easy manufacturing and assembly.

The invention relates to a numerical control universal worm grinder. The numerical control universal worm grinder is characterized in that a rear grinder body and a front grinder body are fixedly connected into a T-shaped layout; the front grinder body is provided with a Z-axis guide rail, and a sliding platform is positioned on the Z-axis guide rail and is driven to move by virtue of a Z-axis servo motor and a lead screw; and a head frame and a tail frame are arranged on the sliding platform, a workpiece is supported between the head frame and the tail frame, and a C-axis servo motor drives the workpiece to rotate by virtue of a synchronous tooth-shaped belt, a shifting fork and a chuck on the workpiece. The rear grinder body is provided with an X-axis guide rail, a cutter platform is positioned on the X-axis guide rail and is driven to move by virtue of an X-axis servo motor and a lead screw; a rotary platform surface is arranged on the cutter platform and is driven to rotate by a B-axis servo motor; the rotary platform surface is fixedly provided with a grinding head vertical column which is provided with a rotary sleeve, and the front end of the rotary sleeve is provided with a front flange which is provided with a grinding head; and the rotary sleeve and the front flange are driven to rotate by virtue of an A-axis motor, and a grinding wheel on the grinding head is drivenby a grinding wheel motor. In the numerical control universal worm grinder, the axial parallel motion or curvilinear motion of the grinding wheel relative to the workpiece and rotary motion of the workpiece and the grinding wheel can be realized, and the grinding of the common cylindrical worm and a ring-surface worm is realized.

Osteosynthesis constructs for treating bone fractures and bone screws for use in such systems are disclosed. The bone screws include a threaded front section configured for engagement with cortical bone, a threaded mid-section and an unthreaded neck section configured for limited movement within the near cortex of the bone. Osteosynthesis constructs of the type disclosed promote secondary healing by allowing for substantially parallel motion at the near and far cortex within the effective motion range for callus formation.

The invention discloses a parallel motion decoupling servo control platform, which comprises a pedestal, a first linear motor, a second linear motor and a motion platform, wherein the motion platform is arranged between the first linear motor and the second linear motor, a first side and a second side of the motion platform are respectively connected with a first motor rotor and a second motor rotor, and are respectively moved along a first horizontal direction and a second horizontal direction under the drive of the first motor rotor and the second motor rotor. According to the parallel motion decoupling servo control platform provided by the embodiment of the invention, by adopting a parallel structure, the parallel motion decoupling servo control platform is simple and symmetrical in structure, motion components in the first horizontal direction and the second horizontal direction can be exchanged so as to be convenient for processing and maintenance, levelness of the motion platform during motion is more easily ensured at work, and an execution result from input of a drive force electric signal to motion of the motion platform is more consistent in each motion direction so as to be beneficial for controlling precision of a track outline of planar motion.