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593 results about "Kinematic chain" patented technology
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In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained (or desired) motion that is the mathematical model for a mechanical system. As in the familiar use of the word chain, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator.
Haptic interface for force reflection in manipulation tasks
Owner:DREXEL UNIV
Real time markerless motion tracking using linked kinematic chains
A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.
Owner:NAT TECH & ENG SOLUTIONS OF SANDIA LLC
Fiber optic shape sensor
A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Fiber optic shape sensor
A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Efficient Vision and Kinematic Data Fusion For Robotic Surgical Instruments and Other Applications
ActiveUS20100331855A1Easy to adjustSimple and relatively stable adjustment or bias offsetDiagnosticsSurgical robotsRemote surgeryEngineering
Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
Owner:INTUITIVE SURGICAL OPERATIONS INC
High-speed parallel robot with four degrees of freedom
InactiveUS20090019960A1High accelerationIncrease speedProgramme-controlled manipulatorMechanical apparatusKinematic chainEngineering
The invention relates to a high-speed parallel robot with four degrees of freedom comprising four kinematic chains (1) articulated at one of their ends to a mobile platform (4) carrying the tool (5) and at their other end, through a rotational joint (2), to an actuador integral with a base plate (3). The mobile platform (4) is formed by four members (11), (11′), (12), (12′), linked together by means of articulated linkages (13), at least two of the members being parallel to each other, forming an articulated mobile platform with one degree of freedom in the plane of the mobile platform. The actuators are positioned with any orientation in the base plate (2) and preferably at 45°, 135°, 225° and 315°.
Owner:FUNDACION TECNALIA RES & INNOVATION
Movable surgical mounting platform controlled by manual motion of robotic arms
Robotic and / or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Movable surgical mounting platform controlled by manual motion of robotic arms
Robotic and / or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Deflecting device for an offset frontal collision for motor vehicles
InactiveUS7819218B2Effect formPrevent intrusionVehicle seatsPedestrian/occupant safety arrangementMobile vehicleCoupling
In a motor vehicle, a deflecting device (11) for an offset frontal collision for the motor vehicle is arranged in front of a front wheel (6). In order, in the event of a collision, to safely pivot the front wheel inward, the deflecting device (11) forms a kinematic chain, the coupling link of which is a deflector (12) which, under the action of a frontal impact, is pivoted to the rear and is displaced toward the outside of the vehicle. The kinematic chain is a slider crank mechanism comprising a swinging arm (13) which is pivotable about a bearing (14), a further bearing (16), a sliding guide (16) and the coupling link (12) which is connected to the outer end of the swinging arm at a pivot point (15) and is guided in the further bearing (16).
Owner:MAGNA STEYR FAHRZEUGTECHN
Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property
InactiveCN103217986AIncrease stiffnessImprove carrying capacityPosition/direction controlEngineeringKinematic chain
The invention discloses a two-freedom-degree parallel-connection rotation mechanism with a spherical surface pure-rolling property. The mechanism comprises a fixed base, a motion platform and branch kinematic chains, wherein the branch kinematic chains further includes two different types of branch kinematic chains, different numbers and types of branch kinematic chains, fixed bases and motion platforms can form twelve types of two-freedom-degree parallel-connection rotation mechanisms with the spherical surface pure-rolling property, each mechanism can achieve that the motion platform carries out two-freedom-degree equal-diameter spherical surface pure-rolling rotation around the fixed base, and the relative positions of all the branch kinematic chains of each parallel-connection mechanism can be asymmetrically arranged according to specific using requirements. The two-freedom-degree parallel-connection rotation mechanism with the spherical surface pure-rolling property has the advantages of being large in rigidity, strong in bearing capacity and multiple in structure type, each structure can achieve the two-freedom-degree equal-diameter spherical surface pure-rolling rotation, only rotation pairs are contained in the mechanism, the two-freedom-degree parallel-connection rotation mechanism is simple in structure and easy to manufacture, and accessories such as sensors can be installed conveniently.
Owner:BEIHANG UNIV
Deflecting Device for an Offset Frontal Collision for Motor Vehicles
InactiveUS20080023954A1Increase collision speedMore impact energyVehicle seatsPedestrian/occupant safety arrangementCouplingEngineering
In a motor vehicle, a deflecting device (11) for an offset frontal collision for the motor vehicle is arranged in front of a front wheel (6). In order, in the event of a collision, to safely pivot the front wheel inward, the deflecting device (11) forms a kinematic chain, the coupling link of which is a deflector (12) which, under the action of a frontal impact, is pivoted to the rear and is displaced toward the outside of the vehicle. The kinematic chain is a slider crank mechanism comprising a swinging arm (13) which is pivotable about a bearing (14), a further bearing (16), a sliding guide (16) and the coupling link (12) which is connected to the outer end of the swinging arm at a pivot point (15) and is guided in the further bearing (16).
Owner:MAGNA STEYR FAHRZEUGTECHN
Parallel mechanism with changeable freedom degree
InactiveCN102179807AWith variable degrees of freedomChange degrees of freedomProgramme-controlled manipulatorDegrees of freedomEngineering
Owner:TIANJIN UNIV
Method for detecting insufficient contact pressure in a switching unit, device for implementing such a method, and switching unit including such a device
ActiveUS11211218B2Machine gearing/transmission testingSwitch power arrangementsContact pressureKinematic chain
A method for detecting insufficient contact pressure between two contacts of an electrical switching unit, including a device for resetting a mechanism for controlling the switching unit following a closure maneuver of the mechanism, the resetting device including a motor configured to complete the closure maneuver of the control mechanism. The method involves detecting whether the motor completes the closure and whether a resetting torque corresponds to a normal resetting torque, by analyzing an envelope curve of current consumed by the motor over time, and, if the motor completes the closure, deducing that a wear is a result of wear in the mechanism or a kinematic chain, and if the motor completes the closure and the resetting torque corresponds to an abnormal rescuing torque, deducing that the wear corresponds to wear in the motor or parts involved in compressing the closure spring.
Owner:SCHNEIDER ELECTRIC IND SAS
Method for using a fixator device
ActiveUS8419732B2Reduce eliminateDiagnosticsComputer-aided planning/modellingMedicineSimultaneous equations
A method for determining the proper configuration of a fixator or other medical device to correct a given deformity by solving the simultaneous equations representing the kinematic chain for the device. One skilled in the art would appreciate that x-rays, clinical evaluations, or a combination of both may be used to determine the distal and proximal mounting characteristics, including the use of digital x-rays with images from an imaging device to reduce or eliminate the needs for a physician to take measurements. The technique can be expanded to other medical evaluations. Additionally, one skilled in the art would appreciate that the method of the present invention could be written as one or more sets of instructions stored on a computer-readable medium that could be executed by a computer.
Owner:AMDT HLDG INC
Automatic push-out to avoid range of motion limits
ActiveUS10028793B2High strengthComplete security measuresProgramme-controlled manipulatorMachine supportsRange of motionControl system
Owner:INTUITIVE SURGICAL OPERATIONS INC
Parallel Kinematic Structure
ActiveUS20100192720A1Easy to operateProgramme-controlled manipulatorMechanical apparatusParallel kinematicsDegrees of freedom
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.
Owner:BALL CORP +1
Tele-operative surgical systems and methods of control at joint limits using inverse kinematics
ActiveUS10188471B2Highly configurableProgramme controlProgramme-controlled manipulatorRemote surgeryRange of motion
Owner:INTUITIVE SURGICAL OPERATIONS INC
Automatic Push-Out to Avoid Range of Motion Limits
ActiveUS20170112580A1High strengthComplete security measuresProgramme-controlled manipulatorMachine supportsRange of motionControl system
Robotic and / or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Method for using a fixator device
InactiveUS20110103676A1Reduce eliminateCorrection of deformitiesDiagnosticsCharacter and pattern recognitionMedicineSimultaneous equations
A method for determining the proper configuration of a fixator or other medical device to correct a given deformity by solving the simultaneous equations representing the kinematic chain for the device. One skilled in the art would appreciate that x-rays, clinical evaluations, or a combination of both may be used to determine the distal and proximal mounting characteristics, including the use of digital x-rays with images from an imaging device to reduce or eliminate the needs for a physician to take measurements. The technique can be expanded to other medical evaluations. Additionally, one skilled in the art would appreciate that the method of the present invention could be written as one or more sets of instructions stored on a computer-readable medium that could be executed by a computer.
Owner:SIXFIX
Parallel robot
InactiveUS20110154936A1Programme-controlled manipulatorMechanical apparatusEngineeringKinematic chain
A parallel robot includes a base, a movable platform, a first kinematic chain and a second kinematic chain. The first and the second kinematic chains are connected to the fixed platform and the movable platform respectively, and move on the same plane. Each of the first and second kinematic chains includes a linear driving mechanism mounted on the base and a parallel four-bar linkage driven by the linear driving mechanism and hinged on the movable platform.
Owner:HONG FU JIN PRECISION IND (SHENZHEN) CO LTD +1
Efficient vision and kinematic data fusion for robotic surgical instruments and other applications
ActiveUS8971597B2Easy to adjustSimple and relatively stable adjustment or bias offsetDiagnosticsCharacter and pattern recognitionRemote surgeryEngineering
Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Dynamic legged robot
A legged robot having a robot structure (20) in the form of a closed kinematic chain and an actuator (26) that contracts when activated. The contraction of the actuator extends a foot element (30) such that it can excerpt a pushing force against a ground surface. When the foot element excerpts sufficient force the legged robot can separate from the ground surface and achieve a dynamic hopping motion.
Owner:RGT UNIV OF CALIFORNIA
Parallel robot
A parallel robot includes a base plate, two first actuators located on the base plate, a mobile platform, and two kinematic chains respectively interconnecting the base plate and the mobile platform. Each kinematic chain includes a driving bar assembly and a driven bar assembly. The driving bar assembly is connected to one of two first actuators. The driving bar includes two substantially parallel first transmission bars. Each of the first transmission bars includes a rotating portion rotatably connected to the base plate. The driven bar assembly interconnects the driving bar assembly and the mobile platform. Each of the two first actuators rotates two rotating portions of the two first transmission bars in the same direction simultaneously.
Owner:SHENZHENSHI YUZHAN PRECISION TECH CO LTD +1
3UPS parallelly connected metamorphic mechanism for lower limb rehabilitation robot
ActiveCN104721016AMeet different rehabilitation needsImprove efficiencyChiropractic devicesWalking aidsLocking mechanismKinematic pair
The invention discloses a 3UPS parallelly connected metamorphic mechanism for a lower limb rehabilitation robot and is applied to the field of rehabilitation robots. The parallelly connected metamorphic mechanism comprises a base and single-side parallely connected metamorphic mechanisms which are connected to the base and symmetrically arranged relative to the base in a left-right mode, each parallelly connected metamorphic mechanism comprises a motion platform, motors, kinematic pair locking mechanisms and three kinematic chains connecting the base and the motion platform. The 3UPS parallelly connected metamorphic mechanism for the lower limb rehabilitation robot achieves the unidirection wide-range bend and stretch motion and three freedom degree small-range rotation of the hip joint respectively through two states formed by opening and locking one of the revolute pair of a hook joint on one side or in the middle, different rehabilitation requirements of people are met, and the efficiency is improved; the hip joint of the human body is considered as part of the mechanism, the unidirection rotation and the three freedom degree rotation all move around the center of the hip joint, interference to human body self movement can not occur, and the rehabilitation processes are facilitated.
Owner:BEIHANG UNIV
Chair,Particularly Conference or Office Chair, and Method for Manufacturing a Chair
ActiveUS20200085194A1Quality improvementEasy and inexpensive to produceStoolsAdjustable chairsOffice chairKinematic chain
A chair, such as a conference or office chair, includes a seat support; a backrest support; a storage member formed as a force storage element; and a transmission coupling the seat support with the backrest support which allows a pivoting of the backrest support and the seat support between an upright position and a backwardly pivoted position according to a predetermined sequence of movements. The force storage element is coupled with the seat support and the backrest support such that the predetermined sequence of movements is facilitated and the storage member provides a force restoring in the upright position and wherein the flexibly elastic storage member forms in conjunction at least with a first articulated rotation point of the transmission a kinematic chain.
Owner:SEDUS STOLL
Three freedom parallel robot mechanism with different structure drive branches
InactiveCN101244560ANo self-inchingImprove carrying capacityProgramme-controlled manipulatorThree degrees of freedomEngineering
The invention discloses a three degrees of freedom parallel robot mechanism with different driving branches, comprising a base (1), an upper platform (2) and three linear driving branches with different structures connected with the base (1) and the upper platform (2); the base (1) and the upper platform (2) are both equilateral triangle, which is characterized in that the three linear driving branches with different structures are respectively arranged on the three points of the base (1) and the upper platform (2); the kinematic chain structure of the linear driving branches with different structures are respectively SPR branch, SP branch and SPS branch; wherein, the moving assembly comprises a sleeve and a post. Comprehensive adopting the structure limitation of three driving branches with different structures, the three degrees of freedom parallel robot mechanism has the advantages that the redundancy for mechanism is effectively eliminated and the working space is increased; meanwhile, the advantages for spherical hinge of compact structure, large bearing capacity and high precision is adopted to simplify the driving structure, to increase the bearing capacity and kinematic accuracy.
Owner:YANSHAN UNIV
Aerofoil profile with variable profile adaptation
InactiveUS6164599AImprove contourGreat and less degreeWind motor controlMachines/enginesEngineeringKinematic chain
In an aerofoil profile with variable profile adaptation and rigid rib structure, the aerofoil profile has a flexible rib structure with rib elements, which are arranged in segments and are articulated to one another in the form of a kinematic chain in order to transmit movement, a skin panel capable of sliding on this and also at least one driving means for moving the flexible rib structure.
Owner:DEUTSCHES ZENTRUM FUER LUFT & RAUMFAHRT EV
High stiffness, high accuracy, parallel kinematic, three degree of freedom motion platform
InactiveUS20060241810A1Improve accuracyHigh stiffnessJointsSpecial data processing applicationsHigh stiffnessUniversal joint
A parallel kinematic machine (PKM) with three active kinematic chains and a leg has improved precision and stiffness maps by: providing drive and actuation of each active kinematic chain by devices secured rigidly to a support structure so that only a fixed length leg of the chain is suspended; driving the fixed length leg of the active kinematic chain to move in a direction oblique to a direction of the fixed length leg; and providing a prismatically jointed leg that is rigidly secured to the base structure and coupled by an effectively universal joint to the motion platform.
Owner:NAT RES COUNCIL OF CANADA
Space three-rotation freedom parallel mechanism
InactiveCN101244558AReduce quality problemsIncrease stiffnessProgramme-controlled manipulatorDegrees of freedomEngineering
The invention discloses a parallel combined mechanism of three rotation degrees of freedom, comprising a mounting bracket, a moving platform, between the mounting bracket and the moving platform is provided with a middle support and three moving branched chain of same structure and coaxial symmetry uniform arrangement, the moving branched chain comprises a slider and a connecting rod, the slider is connected with the mounting bracket by a shifting pair; the connecting rod can be used that one end is connected with the end terminal of the slider by a hook joint, the other end is connected with the moving platform by a ball joint; the connecting rod can also be used that one end is connected with the end terminal of the slider by a ball joint, the other end is connected with the moving platform by a hook joint. The parallel combined mechanism of three rotation degrees of freedom has the advantages that using a structure of external pair drive to reduce the quality of the moving chain, easy to realize high-speed movement, and good mechanism dynamic property, suitable for the parallel robot, parallel machine tool and inching robot and other occasions.
Owner:TIANJIN UNIV
Combined type transmission variable-angle micrometric displacement regulation device
InactiveCN101673118ARealize two-stage transmissionMeet different anglesControlling membersManual control with multiple controlled membersCouplingControl system
The invention relates to a micrometric displacement regulation device, in particular to a combined type transmission variable-angle micrometric displacement regulation device comprising a fixed base,a worm gear, a worm, a screw rod, a push rod, joint bearings and a regulation and fastening part. By regulating a handle at one end of the worm, the worm and the worm gear are engaged to realize primary transmission. The center of the worm gear provides a thread hole, and secondary transmission is realized by a thread pair and the screw rod. The rotary motion of the screw rod is restricted by a flat key, and the push rod only can be pushed along a linear direction. Both ends of the push rod are respectively arranged with the joint bearing, and the push rod pushes a working platform to realizeangle rotation or linear displacement motion. The invention also can adopt a motor for control. A worm shaft is connected with a motor shaft by a shaft coupling, and the motor is connected with a computer by a driving control system to realize control. A displacement sensor can be arranged on the screw rod and used for measuring the displacement quantity of the screw rod at real time. The entire control system can adopt an open-loop or closed-loop system. The invention has compact layout and simple kinematic chain and ensures the regulation accuracy. The invention can be used by combining a single set or a plurality of sets so as to meet the regulation requirement of different angles or displacements of the working platform. The invention is especially suitable for an occasion for regulating the displacement or angle with moderate accuracy in a micron magnitude or an arc second magnitude.
Owner:TONGJI UNIV
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