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87 results about "Passive motion" patented technology

Four-foot-swing wall-climbing robot with driven waist joint

The invention discloses a four-foot-swing wall-climbing robot with a driven waist joint. The wall-climbing robot comprises four telescopic foot modules, an upper body part, a lower body part and a tail module; the telescopic foot modules are active motion modules and each composed of a steering engine and a transmission mechanism, each transmission mechanism is formed by bevel gears and a crank slide bar mechanism to transmit power of the corresponding steering engine, and then four telescopic legs can do linearly telescopic motion. The four telescopic foot modules are connected with the left side and the right side of the upper body part and the left side and the right side of the lower body part respectively. The upper body part and the lower body part are internally provided with cavities used for installing a control panel and a battery and are connected through the waist joint. The waist joint does passive motion, and the robot can climb a wall or walk through active motion of telescopic feet of skew symmetry. The wall-climbing robot has the advantages that the overall structure is compact and flat and high in stability; the ratio of the upper body to the lower body can be adjusted according to optimization needs; changes of mass center motion tracks and foot end force of climbing animals can be fitted, and the motion speed of the four-foot-swing wall-climbing robot with the driven waist joint is effectively increased.
Owner:BEIHANG UNIV

Vibration/motion training device for simulating weightless tail suspended rats

The invention discloses a tail-suspended rat fixing device, which comprises a rat fixing box, a tail suspension device and an angle adjusting device. The invention also provides a tail-suspended rat vibration/motion training device, which comprises a motion track limit device, a vibration training device, an active motion training device, a passive motion training device, a rat hind limb fixing device and a height adjusting device. The invention also provides a vibration/motion control device, which comprises a display screen, a key, a direct-current motor speed adjusting knob, a power supply adapter, a switch, a USB interface and an internal circuit, wherein the direct-current motor speed adjusting knob is used for adjusting the rotating speed of a direct-current motor during passive motion training; the power supply adapter and the switch are used for supplying power for the whole device; the USB interface is used for carrying out function expansion later; and the internal circuit is used for controlling and quantifying rat vibration/motion training and supplying power. The device can keep the same tail-suspended height, can carry out equal-length and equal-tension motion by combining vibration and motion training, and simultaneously achieves training quantification and control.
Owner:BEIHANG UNIV

Ultra-large bearing omnidirectional carrying posture adjusting platform and ground self-adaptive omnidirectional moving unit

ActiveCN110469758AHigh movement precisionHigh precision of attitude adjustmentStands/trestlesWheelsTransfer modeDegrees of freedom
The invention relates to an ultra-large bearing omnidirectional carrying posture adjusting platform. The platform comprises an omnidirectional moving posture adjusting unit, an X-direction driving electric bar, a vehicle body frame, a storage battery and a control unit, wherein the omnidirectional moving posture adjusting unit comprises a moving frame, a left-hand Mecanum wheel set, a right-hand Mecanum wheel set, a driving unit and a moving structure; and the movements of the omnidirectional moving posture adjusting unit include the movements in the X and Y directions and rotation of Z-axis based on Mecanum wheels and the movements in the X, Y and Z directions and rotation of the X and Y axes based on a guide rail and a screw rod, and have eight degrees of freedom, wherein the omnidirectional movement and rotation based on the Mecanum wheels, and the movements of the X, Y and Z axes are driving movements, and the rotation of the X and Y axes is a driven movement. According to the platform, large-bearing omnidirectional motions and posture adjustment are integrated, the switching among a transfer mode, a large-range low-precision posture adjustment mode and a small-range high-precision posture adjustment mode is achieved, and the application range of a six-degree-of-freedom posture adjustment platform is effectively expanded.
Owner:YANSHAN UNIV

Dynamically Equivalent Simulator for Vehicle Rotational Motions

A vehicle nonlinear dynamics simulation device, such as flight simulator, including a motorized spherical vehicle suspended inside another spherical shell which has smooth inner surface. The spherical vehicle is supported by a plurality of spiky legs of either air-bearing assemblies or omni-directional ball bearing assemblies. The outer spherical shell is supported by three controllable translational motion platforms. Simulating equipment for a pilot cabin is mounted inside the spherical vehicle. The spherical vehicle has driving, restoring, and damping capabilities in roll, pitch, and yaw directions and is capable to rotate 360° in any directions. Therefore it provides a dynamically equivalent model to simulate a vehicle rotational dynamics. The driving and restoring means include Omni wheel assemblies mounted outside of the spherical vehicle and operable to contact the inner surface of the shell to drive the spherical vehicle in roll, pitch, and yaw directions. The driving means include electrical motors. The restoring and damping mechanisms are provided by rotational springs and rotational dampers, respectively. The rotational movements of the spherical vehicle are active and controlled by the driving system and also by the nonlinear dynamics of the spherical vehicle itself, in contrast to the passive movements of the simulation platforms currently used in industries.
Owner:TANG SHAOJIE

RSS (Root Sum Square)-based passive motion tracking method suitable for sparse node distribution

The invention relates to an RSS (Root Sum Square)-based passive motion tracking method suitable for sparse node distribution. The RSS-based passive motion tracking method is characterized by comprising the steps of: (1) setting N particles with random positions; (2) respectively working out a long-term measured value and a short-term measured value of RSS of each link when a target is located at the position of each particle according to a long-term measured value mode land a short-term measured value model for each particle; (3) comparing two RSS values of each particle with the actually measured RSS values, processing the two RSS values of each particle to obtain the weight corresponding to the particle at each position; (4) resampling the weight corresponding to the particle at each position; (5) calculating an estimation result of a target position; (6) updating the position of each particle according to an autoregression Gaussian model; and (7) returning to (2) and repeat the execution until a tracking process is finished. The method disclosed by the invention is reasonable in design, has the advantages of enlarging a perception range of each link in a sensor network and guaranteeing the tracking accuracy on a wireless sensor network with sparse node distribution, and has a favorable performance in sparse node networks under different environments.
Owner:BEIJING ZHONGFANG SHIXIN TECH
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