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21. 发明授权

US06621036B2 Programmable pogo welding apparatus and method 有权
标题翻译：可编程pogo焊接设备及方法
公开(公告)号：US06621036B2
公开(公告)日：2003-09-16
申请号：US10214399
申请日：2002-08-07
申请人： Peter C. Sun , Pei-Chung Wang , Charles Weldon Wampler, II , Douglas Martin Linn
发明人： Peter C. Sun , Pei-Chung Wang , Charles Weldon Wampler, II , Douglas Martin Linn
IPC分类号： B23K1111
CPC分类号： B23K11/11 , B23K11/318 , B23K37/0229 , B23K2101/18
摘要： A pogo welding apparatus especially for spot welding metal sheets at selected locations spaced away from their edges wherein the sheets are held in a temporary assembly with the selected locations engaged and separate programmable positioners move a primary (pogo) electrode and a backup electrode sequentially against opposite sides of the selected locations to spot weld the sheets at the selected locations in sequence. Various alternative programmable positioners, including robots of varying types, may be used to carry the electrodes. A multi head back-up electrode is adapted for efficient use of the apparatus and method in difficult to reach workpiece locations.
摘要翻译：一种pogo焊接设备，特别用于在选定的位置与其边缘分开地点焊金属片，其中片材被保持在临时组件中，所选择的位置接合，并且分离的可编程定位器将初级（pogo）电极和备用电极顺序地抵靠相对所选择的位置的侧面以顺序地在所选择的位置点焊片材。可以使用各种替代的可编程定位器，包括不同类型的机器人来承载电极。多头后备电极适于在难以到达工件位置的情况下有效地使用该装置和方法。

22. 发明授权

US09067325B2 Human grasp assist device soft goods 有权
标题翻译：人工抓握辅助装置软货
公开(公告)号：US09067325B2
公开(公告)日：2015-06-30
申请号：US13408668
申请日：2012-02-29
申请人： Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Bryan Bergelin , Lyndon B. J. Bridgwater , Heather Bibby , Judy Schroeder , Craig Erkkila
发明人： Chris A. Ihrke , Donald R. Davis , Douglas Martin Linn , Bryan Bergelin , Lyndon B. J. Bridgwater , Heather Bibby , Judy Schroeder , Craig Erkkila
IPC分类号： G06F7/00 , A61H1/00 , A63B23/16 , B25J15/08 , B25J15/02 , A41D19/015 , A41D19/00
CPC分类号： B25J15/08 , A41D19/0024 , A41D19/01547 , A41D19/01582 , B25J15/02
摘要： A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.
摘要翻译：抓握辅助系统包括手套和柔性套筒。手套包括诸如手指或拇指的数字，力传感器，其构造成测量由佩戴手套的操作者施加到物体的抓握力，以及相对于该位置定位的可调节的齿环。鞍座相对于手指定位。柔性腱在鞍座周围的一端环绕。导管包含肌腱。固定在手套的手掌内的导管锚接收导管。套筒具有包含连接到腱的另一端的致动器组件和控制器的口袋。控制器与力传感器连通，并根据测得的抓力计算拉力。控制器命令来自致动器组件的张力拉紧肌腱，从而移动手指。

23. 发明授权

US08718813B2 Mechanical implement utilizing active material actuation 有权
标题翻译：利用活性材料致动的机械工具
公开(公告)号：US08718813B2
公开(公告)日：2014-05-06
申请号：US12563245
申请日：2009-09-21
申请人： Nilesh D. Mankame , Douglas Martin Linn , James W. Wells , Alan L. Browne , Nancy L. Johnson
发明人： Nilesh D. Mankame , Douglas Martin Linn , James W. Wells , Alan L. Browne , Nancy L. Johnson
IPC分类号： B25J15/08 , B25J15/10
CPC分类号： B25J9/1085
摘要： A mechanical implement adapted for use in an autonomously functioning device, such as a robot arm, and including an active material, such as shape memory polymer, element that when activated and/or deactivated is operable to modify the mechanical impedance of a joint or link in the device.
摘要翻译：适用于自主功能的装置（例如机器人手臂）并且包括诸如形状记忆聚合物的活性材料的机械工具，其在被激活和/或停用时可操作以修改接头或连杆的机械阻抗在设备中。

24. 发明申请

US20110089708A1 MECHANICAL GRIPPERS UTILIZING ACTIVE MATERIAL ACTIVATION 有权
标题翻译：使用活性材料活化的机械滑块
公开(公告)号：US20110089708A1
公开(公告)日：2011-04-21
申请号：US12581118
申请日：2009-10-17
申请人： Nilesh D. Mankame , Douglas Martin Linn , James W. Wells , Alan L. Browne , Nancy L. Johnson
发明人： Nilesh D. Mankame , Douglas Martin Linn , James W. Wells , Alan L. Browne , Nancy L. Johnson
IPC分类号： B25J15/08 , B25J15/10
CPC分类号： B25J15/12 , B25J9/1085 , B25J9/1095 , B25J15/0023
摘要： A mechanical gripper adapted for grasping a plurality of differing objects, and comprising a plurality of fingers, wherein each finger includes at least one variable impedance member comprising an active material element, the element, when activated and deactivated, undergoes a reversible change in impedance, and the change in impedance enables the gripper to be advantageously reconfigured, and/or locked in a reconfigured state.
摘要翻译：一种适于抓取多个不同物体并且包括多个指状物的机械夹持器，其中每个指状物包括至少一个包含活性物质元件的可变阻抗构件，所述元件在被激活和去激活时经历可逆的阻抗变化，并且阻抗的变化使得能够有利地重新配置夹持器和/或锁定在重新配置状态。

25. 发明申请

US20110071670A1 MECHANICAL IMPLEMENT UTILIZING ACTIVE MATERIAL ACTUATION 有权
标题翻译：机械实施利用有效的材料执行
公开(公告)号：US20110071670A1
公开(公告)日：2011-03-24
申请号：US12563245
申请日：2009-09-21
申请人： Nilesh D. Mankame , Douglas Martin Linn , James W. Wells , Alan L. Browne , Nancy L. Johnson
发明人： Nilesh D. Mankame , Douglas Martin Linn , James W. Wells , Alan L. Browne , Nancy L. Johnson
IPC分类号： G06F19/00
CPC分类号： B25J9/1085
摘要： A mechanical implement adapted for use in an autonomously functioning device, such as a robot arm, and including an active material, such as shape memory polymer, element that when activated and/or deactivated is operable to modify the mechanical impedance of a joint or link in the device.
摘要翻译：适用于自主功能的装置（例如机器人手臂）并且包括诸如形状记忆聚合物的活性材料的机械工具，其在被激活和/或停用时可操作以修改接头或连杆的机械阻抗在设备中。

26. 发明申请

US20100121222A1 SENSING THE TENDON TENSION THROUGH THE CONDUIT REACTION FORCES 有权
标题翻译：通过电力反应动力来感知电动张力
公开(公告)号：US20100121222A1
公开(公告)日：2010-05-13
申请号：US12269552
申请日：2008-11-12
申请人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
发明人： MUHAMMAD E. ABDALLAH , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Charles W. Wampler, II , Robert Platt
IPC分类号： A61B5/103
CPC分类号： B25J15/0009 , B25J9/1045 , G01L1/2218 , G01L5/226
摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.
摘要翻译：使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。腱穿过应变计元件和力部件。应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

27. 发明申请

US20100077867A1 PHALANGE TACTILE LOAD CELL 有权
公开(公告)号：US20100077867A1
公开(公告)日：2010-04-01
申请号：US12241320
申请日：2008-09-30
申请人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
IPC分类号： G01D7/00
CPC分类号： G01L1/2243 , B25J13/084 , G01L5/226
摘要： A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.
摘要翻译：一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

28. 发明授权

US06941189B2 Programmable adaptable assembly system 有权
标题翻译：可编程适应性装配系统
公开(公告)号：US06941189B2
公开(公告)日：2005-09-06
申请号：US09738399
申请日：2000-12-15
申请人： Douglas Martin Linn , Gerald Charles Rieck , Charles Weldon Wampler, II , Kevin U. Carriere
发明人： Douglas Martin Linn , Gerald Charles Rieck , Charles Weldon Wampler, II , Kevin U. Carriere
IPC分类号： B25J9/10 , B23P19/00 , G05B19/418 , G06F19/00
CPC分类号： G05B19/41805 , G05B2219/50125 , Y02P90/04 , Y02P90/14
摘要： A positioner for use in a tooling apparatus, the positioner including a tool, at least one servo-motor for actuating said tool, a controller for controlling the servo-motor, nonvolatile memory in the controller, and a calibration stored in the nonvolatile memory, the calibration including compensation parameters for the build variance of the positioner.
摘要翻译：一种用于加工装置的定位器，所述定位器包括工具，用于致动所述工具的至少一个伺服电动机，用于控制所述伺服电动机的控制器，所述控制器中的非易失性存储器以及存储在所述非易失性存储器中的校准，校准包括定位器的构造方差的补偿参数。

29. 发明授权

US08510924B2 Reconfigurable fixture device and methods of use 有权
标题翻译：可重构夹具装置及使用方法
公开(公告)号：US08510924B2
公开(公告)日：2013-08-20
申请号：US13004575
申请日：2011-01-11
申请人： Nilesh D. Mankame , James W. Wells , Christopher P. Henry , Ivan G. Sears , Douglas Martin Linn , Alan L. Browne , Richard J. Skurkis
发明人： Nilesh D. Mankame , James W. Wells , Christopher P. Henry , Ivan G. Sears , Douglas Martin Linn , Alan L. Browne , Richard J. Skurkis
IPC分类号： B21D37/16 , B25B27/00 , B23Q7/00 , B23Q13/00
CPC分类号： B23Q3/086 , B25B5/163 , Y10T29/4976 , Y10T29/49805 , Y10T29/49998 , Y10T29/53961 , Y10T29/53991
摘要： A reconfigurable fixture device system, including: a base member; a reconfigurable pad disposed on the base member, wherein the reconfigurable pad comprises a shape memory material configured to selectively conform to a surface contour of a workpiece; an activation device in operative communication with the shape memory material; a controller in operable communication with at least one of the reconfigurable pad, the activation device, and the base member; a plurality of sensors for sensing a parameter associated with at least one of the reconfigurable pad, the base member, the fixture device, and the workpiece, wherein the plurality of sensors is in operable communication with the controller; and an actuator in operable communication with the controller and the at least one of the reconfigurable pad, the base member, the fixture device, and the workpiece.
摘要翻译：一种可重构夹具装置系统，包括：基座构件; 设置在所述基底构件上的可重新配置的垫，其中所述可重构衬垫包括被配置为选择性地符合工件的表面轮廓的形状记忆材料; 与形状记忆材料可操作地通信的激活装置; 控制器，其与所述可重新配置的焊盘，所述激活装置和所述基底构件中的至少一个可操作地通信; 用于感测与所述可重新配置的衬垫，所述基座构件，所述固定装置和所述工件中的至少一个相关联的参数的多个传感器，其中所述多个传感器与所述控制器可操作地通信; 以及致动器，其与所述控制器和所述可重新配置的垫，所述基座构件，所述固定装置和所述工件中的至少一个可操作地连通。

30. 发明授权

US08276958B2 Bidirectional tendon terminator 有权
标题翻译：双向肌腱终止子
公开(公告)号：US08276958B2
公开(公告)日：2012-10-02
申请号：US12269579
申请日：2008-11-12
申请人： Chris A. Ihrke , Douglas Martin Linn , Lyndon Bridgwater
发明人： Chris A. Ihrke , Douglas Martin Linn , Lyndon Bridgwater
IPC分类号： B25J15/00 , B66C1/00
CPC分类号： B25J15/0009 , B25J9/1075 , Y10T74/20329 , Y10T74/20335
摘要： A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.
摘要翻译：双向肌腱终止器，其具有用于终止在机器臂中致动手指的腱的特定应用。腱终端器包括具有内部通道的圆柱形构件，单个连续的腱延伸穿过该内部通道。腱终端器的内部通道包括加宽部分。一个球被放置在肌腱股线中，这导致腱膨胀，并且球定位在通道的加宽部分内。根据肌腱被牵引的方向，拉动肌腱操作以打开或关闭机器手臂的手指。在一个具体实施例中，气缸包括两个联接在一起的圆柱形件，使得球可以定位在通道内，并且圆柱形构件具有整个材料周长。

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