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    • 10. 发明授权
    • Micro-manipulator
    • 微机械手
    • US07564209B2
    • 2009-07-21
    • US11593028
    • 2006-11-06
    • Naoto MochizukiHirofumi KanekoMasahiro Kouno
    • Naoto MochizukiHirofumi KanekoMasahiro Kouno
    • B25J9/18
    • B25J7/00
    • A micro-manipulator has grippers for gripping micro-material; an actuator for driving the grippers; a drive amount detection device for detecting a drive amount of the actuator; a power control device for controlling power supplied to the actuator so that a difference in a target drive amount of the input actuator and a drive amount detected by the drive amount detection device is small, after at least the grippers touch the micro-material; a gripping determination device for determining that grippers have gripped the micro-material based on the difference; and a resilience value calculation device for calculating a resilience value that represents a degree of softness of the micro-material by dividing the actuator drive force that is equivalent to the repulsive force of micro-material gripped by the grippers in proportion to power supplied to the actuator via the power control device.
    • 微机械手具有用于夹紧微量材料的夹具; 用于驱动夹具的致动器; 驱动量检测装置,用于检测致动器的驱动量; 电源控制装置,用于在至少夹持器接触微材料之后,控制供应到致动器的电力,使得输入致动器的目标驱动量的差异和由驱动量检测装置检测的驱动量的差小; 夹持确定装置,用于确定夹具基于该差异夹紧微材料; 以及弹性值计算装置,用于通过将与所述夹持器夹持的微材料的斥力的等效的致动器驱动力与施加到所述夹持器的功率成比例地成比例地分配来表示所述微细材料的柔软度的弹性值 执行器通过电源控制装置。