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    • 5. 发明授权
    • Method and apparatus for determining a weight of a payload
    • 用于确定有效载荷的重量的方法和装置
    • US06518519B1
    • 2003-02-11
    • US09651173
    • 2000-08-30
    • Carl D. Crane, IIIJoseph Duffy
    • Carl D. Crane, IIIJoseph Duffy
    • G01G1908
    • E02F9/264
    • Methods and apparatuses for determining a mass of a payload in a work machine. The work machine has a chassis, a cab coupled with the chassis, and a boom coupled with the cab. A first actuator is coupled with the boom and the cab and moves the boom relative to the cab. The work machine has a stick coupled with the boom, and a second actuator coupled with the stick and the boom that moves the stick relative to the boom. The work machine also has a bucket operable to receive the payload. The bucket is coupled with the stick, and a third actuator is coupled with the bucket and the stick and moves the bucket relative to the stick. A first joint angle of the boom relative to the cab is determined at at least two instances in time. A second joint angle of the stick relative to the boom is determined at at least two instances in time. A third joint angle of the bucket relative to the stick is determined at at least two instances in time. A first actuator force exerted on the first actuator is determined at at least two instances in time. A second actuator force exerted on the second actuator is determined at at least two instances in time. A third actuator force exerted on the third actuator is determined at at least two instances in time. A plurality of physical characteristics of the work machine is determined. The mass of the bucket and payload is determined as a function of the first joint angles, the second joint angles, the third joint angles, the first actuator forces, the second actuator forces, the third actuator forces, and the plurality of predetermined physical characteristics.
    • 用于确定作业机器中的有效载荷的质量的方法和装置。 工作机具有底盘,与底盘连接的驾驶室以及与驾驶室联动的动臂。 第一致动器与动臂和驾驶室联接,并使悬臂相对于驾驶室移动。 工作机具有与吊杆结合的杆,以及与杆和悬臂相耦合的第二致动器,其相对于悬臂移动杆。 工作机器还具有可操作以接收有效载荷的铲斗。 铲斗与杆联接,第三执行器与铲斗和棍子联接,并相对于棒移动铲斗。 在至少两个时间上确定起重臂相对于驾驶室的第一关节角度。 在至少两个时间的情况下确定棒相对于吊杆的第二关节角度。 在至少两个时间上确定桶相对于棒的第三关节角度。 在至少两个时间上确定施加在第一致动器上的第一致动器力。 在至少两个时间的情况下确定施加在第二致动器上的第二致动器力。 在至少两个时间上确定施加在第三致动器上的第三致动器力。 确定作业机器的多个物理特性。 铲斗和有效载荷的质量根据第一关节角度,第二关节角度,第三关节角度,第一致动器力,第二致动器力,第三致动器力和多个预定物理特性来确定 。
    • 10. 发明授权
    • Method and apparatus for controlling geometrically simple parallel
mechanisms with distinctive connections
    • 用于控制具有独立连接的几何简单并行机制的方法和装置
    • US5179525A
    • 1993-01-12
    • US517371
    • 1990-05-01
    • Michael W. GriffisJoseph Duffy
    • Michael W. GriffisJoseph Duffy
    • G09B9/08B23Q1/54B25J9/16B25J17/02G09B9/14
    • B25J9/1623B23Q1/5462B25J17/0216G09B9/14F16F2230/0052G05B2219/37177G05B2219/41301G05B2219/50162
    • A system, method and apparatus for controlling, via a closed-form forward displacement computation, the position and orientation of a movable platform of a parallel mechanism. A movable platform is supported above a base platform by a plurality of parallel support legs such as linear actuators. The dimensions of the base platform and the movable platform, as well the lengths of the support legs, are provided to a control system. The control system is operative to compute at least one closed-form forward displacement solution of the geometry of a polyhedron (an octahedron for the disclosed embodiments) formed by the movable platform, the base platform, and the support legs. The control system determines a final position and orientation of the movable platform by eliminating imaginary roots of the closed-form solutions and roots which would result in discontinuous paths of travel for the movable platform. A novel special 6-6 parallel mechanism is also disclosed. The control system is suitable for controlling known 3-3 or 6-3 Stewart platforms in a novel manner, as well as controlling the novel special 6-6 parallel mechanism. The special 6-6 parallel mechanism is distinguished from a general 6-6 by the fact that it is geometrically reducible to an octahedron, and therefore it has a simple geometry, even though its legs possess distinct connections. Also disclosed is a method for reducing the novel special 6-6 parallel mechanism to a Stewart platform equivalent, which is then controlled by the disclosed closed-form forward displacement control system.
    • 一种用于通过封闭式向前位移计算来控制并联机构的可移动平台的位置和方位的系统,方法和装置。 可移动平台通过诸如线性致动器的多个平行支撑腿支撑在基座平台上。 基座平台和可移动平台的尺寸以及支撑腿的长度被提供给控制系统。 控制系统可操作以计算由可移动平台,基座平台和支撑腿形成的多面体(所公开的实施例的八面体)的几何形状的至少一个闭合形式的向前位移解。 控制系统通过消除封闭形式的解决方案和根的假想根来确定可移动平台的最终位置和方向,这将导致可移动平台的不连续行进路径。 还公开了一种新颖的特殊6-6并联机构。 控制系统适用于以新颖的方式控制已知的3-3或6-3 Stewart平台,以及控制新颖的特殊6-6并行机制。 特殊的6-6平行机构与一般的6-6不同之处在于它几何可缩减为八面体,因此它具有简单的几何形状,即使它的腿具有不同的连接。 还公开了一种用于将新的特殊6-6并联机构减小到斯图尔特平台等效物的方法,然后由公开的封闭式前向位移控制系统控制。