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1. 发明授权

US4716350A Method to avoid singularity in a robot mechanism 失效
标题翻译：避免机器人机构中奇异性的方法
公开(公告)号：US4716350A
公开(公告)日：1987-12-29
申请号：US939377
申请日：1986-12-08
申请人： Bernard Huang , Veljko Milenkovic
发明人： Bernard Huang , Veljko Milenkovic
IPC分类号： B25J9/18 , G05B19/23 , G05B19/416 , G05B19/10
CPC分类号： G05B19/416 , G05B19/232 , G05B2219/40333 , G05B2219/40354 , G05B2219/43203
摘要： A method to avoid excessive rotational speeds, of the axes of a robot wrist, that result in the vicinity of a singularity in the path defined by consecutive points along which a tool held by a three-axis wrist mechanism of the robot moves. The speeds of the first and third axes are reduced within the allowable range of rotational speed for these axes, generally defined by the robot manufacturer, while maintaining constant the rotation about the intermediate or second joint. The rotational speed about each of these axes is determined as the tool moves between successive points on the path. Then, if necessary, the rotation of the second joint is decreased while maintaining constant the speeds about the first and third axes. Finally, the tool is maintained on the path by rotating the position of the tool without altering the reduced speeds of rotation about the axes.
摘要翻译：一种避免机器人手腕的轴的过度旋转的方法，其导致由由机器人的三轴腕部机构保持的工具沿着该连续点限定的路径中的奇点附近。第一轴和第三轴的速度在通常由机器人制造商定义的这些轴的允许旋转速度范围内减小，同时保持围绕中间或第二接头的旋转恒定。当工具在路径上的连续点之间移动时，确定关于每个这些轴的旋转速度。然后，如果需要，第二关节的旋转减小，同时保持围绕第一和第三轴的速度恒定。最后，通过旋转工具的位置，在不改变围绕轴的转动速度的情况下，将工具保持在路径上。

2. 发明授权

US4945493A Method and system for correcting a robot path 失效
标题翻译：用于校正机器人路径的方法和系统
公开(公告)号：US4945493A
公开(公告)日：1990-07-31
申请号：US249020
申请日：1988-09-26
申请人： Bernard Huang , Veljko Milenkovic
发明人： Bernard Huang , Veljko Milenkovic
IPC分类号： B25J9/16 , B25J9/18 , G05B19/408
CPC分类号： G05B19/4083 , B25J9/1684
摘要： A method and system for correcting a programmed robot manipulator path to compensate for variability of the location of a succession of workpieces includes the steps of sensing and measuring path offsets between the idealized workpiece location and the actual location of the workpiece at a plurality of waypoints, converting the measured offsets into translations and rotations of the workpiece by multiplying a matrix comprised of the offset measurements by a previously prepared conversion matrix, correcting the coordinates of waypoints within the preprogrammed path by applying the translations and rotations to such coordinates, transforming the corrected preprogrammed path coordinates into machine control coordinates, and providing a controller for the robot manipulator with such machine control coordinates.

3. 发明授权

US4907937A Non-singular industrial robot wrist 失效
标题翻译：非奇异工业机器人手腕
公开(公告)号：US4907937A
公开(公告)日：1990-03-13
申请号：US752753
申请日：1985-07-08
申请人： Veljko Milenkovic
发明人： Veljko Milenkovic
IPC分类号： B25J17/02
CPC分类号： B25J17/0258 , Y10T74/20335
摘要： The end of a robot arm includes two links, a first or inner link supported rotatably about a central axis and an end link at which a tool is carried. Located between the links are a rod and a tube whose longitudinal axes are concentric. Each of four gimbal rings is used as a member of a universal joint that connects the links, the rod and the tube. The links are connected by two universal joints in series, and the rod connects these joints. The links are also connected by two other universal joints in series and the tube connects this second pair of joints. The first and second pairs of universal joints connected in series are connected to one another in parallel. Gimbal rings rotatably supported on the tube and on the links for angular movement about yaw axis provide rotational support for the links and the connecting rod about the pitch axis. Actuating rods connected to the inner set of gimbal rings produce articulation of the wrist about these axis when the rods are actuated. Angular pitch displacement and angular yaw displacement are equalized between the inner set of gimbal rings and the outer set of gimbal rings by tension members. Alternatively, continuously meshing gear wheel portions equalize yaw and pitch rotational displacement, respectively.

4. 发明授权

US4821207A Automated curvilinear path interpolation for industrial robots 失效
标题翻译：工业机器人的自动曲线路径插补
公开(公告)号：US4821207A
公开(公告)日：1989-04-11
申请号：US43581
申请日：1987-04-28
申请人： Loo Ming , Veljko Milenkovic
发明人： Loo Ming , Veljko Milenkovic
IPC分类号： B25J9/16 , B25J9/18 , G05B19/41 , G05B19/4103 , G06F15/46 , G05B19/415 , G05B19/42
CPC分类号： G05B19/41
摘要： A method for generating a path to be followed by the end effector of an industrial robot includes defining the location of points on the path, recording the coordinates of the points in cartesian space, determining the slope of the path at each of the taught points with reference to a code that defines the nature of the path in the vicinity of each point, calculating the direction vector representing the slope at each taught point, locating the position and slope of a point midway between successive taught points, connecting the taught points and the midpoints with a circular arc whose slope is equal to the slope at the taught points and midpoints, and generating points between the taught points with reference to the desired velocity of the end effector at each of the generated points on the path to be traversed.

5. 发明授权

US4161092A Flat article handling system 失效
标题翻译：平面物品处理系统
公开(公告)号：US4161092A
公开(公告)日：1979-07-17
申请号：US849108
申请日：1977-11-07
申请人： John M. Buday , Lawrence B. Holmes , Veljko Milenkovic , Bernard Stevens
发明人： John M. Buday , Lawrence B. Holmes , Veljko Milenkovic , Bernard Stevens
IPC分类号： B65B5/10 , B65B25/14 , B65H29/14 , B65H29/60 , B65H29/66 , B65H31/06 , B65H31/28 , B65H31/30 , B65B5/08
CPC分类号： B65H29/585 , B65B25/141 , B65B25/143 , B65H29/14 , B65H29/66 , B65H31/06 , B65H31/28 , B65H31/3072 , B65H2301/42146 , B65H2301/42254 , B65H2301/42265 , B65H2701/176
摘要： A system for stacking into containers flat articles received in a shingled stream, the flat articles being disposed essentially normal to the bottoms of the containers into which they are stacked; mechanism is provided for rapidly diverting the shingled stream of flat articles from the rear of a just filled container to the front of the next empty container in a line of moving containers to feed flat articles into successive containers without interruption; containers having elongated slots in the ends are provided to facilitate the rapid shifting of the article stream from container to container in a line of containers; there also is provided a mechanism to generate a gap in the shingled stream of flat articles to facilitate transfer of the stream from a filled container to an empty container; there further is provided mechanism for diverting the shingled stream of flat articles before it reaches the containers to sample the flat articles or to reject the flat articles should they be defective; also provided are novel container conveyor systems for conveying containers to the loading station to accommodate the stacking mechanism.
摘要翻译：用于将容纳在带状混合物流中的扁平物品堆放成容器的系统，所述平坦物品基本上垂直于堆叠的容器的底部设置; 机构被设置用于将扁平物品从刚刚填充的容器的后部快速转移到一排移动的容器中的下一个空容器的前部，以将扁平物品送入连续的容器而不中断; 提供了在端部具有细长狭槽的容器，以便于将物品流从容器中的容器快速移动到容器中; 还提供了一种在扁平物品的带状物流中产生间隙的机构，以便于将流从填充的容器传送到空容器; 另外还设置有用于在扁平物品到达容器之前转移扁平物品流以对平坦物品进行取样的机构，或者如果扁平物件有缺陷，则拒绝平坦物品; 还提供了用于将容器输送到装载站以容纳堆垛机构的新型容器输送机系统。

6. 发明授权

US4758967A Computer simulated inertia for motor vehicle powertrain testing 失效
标题翻译：汽车动力总成测试的计算机模拟惯性
公开(公告)号：US4758967A
公开(公告)日：1988-07-19
申请号：US861902
申请日：1986-05-12
申请人： Shimshon Shmuter , Hossein Nivi , Veljko Milenkovic , Nathaniel Field
发明人： Shimshon Shmuter , Hossein Nivi , Veljko Milenkovic , Nathaniel Field
IPC分类号： G01M13/02 , G01M15/04 , G05D17/02 , G05B15/00 , G01L3/22
CPC分类号： G01M13/025 , G01M15/044 , G05D17/02
摘要： The large rotational inertia applied to a driveline component during normal driving conditions is simulated in a test stand that contains a component that driveably connects an input motor and an output motor. A computer repetitively executes an algorithm that produces a commanded torque signal which is supplied as a control signal to the motor drive of one of the electrical motors to produce an output within that motor equal to the commanded torque. The control system applies to the powertrain component under test an inertia that simulates the actual vehicle inertia. The target state of the system, when the vehicle inertia is applied, is completely defined from information known when the component being tested has substantially less inertia applied.
摘要翻译：在正常行驶条件下施加到传动系统部件的大的转动惯量在包含驱动地连接输入电动机和输出电动机的部件的试验台中进行模拟。计算机重复执行一种算法，该算法产生一个指令的扭矩信号，该扭矩信号作为一个控制信号提供给一个电动机的电动机驱动器，以产生等于该指令转矩的该电动机内的一个输出。控制系统适用于模拟实际车辆惯性的惯性的被测动力系组件。当应用车辆惯性时，系统的目标状态是完全由已知的被测部件的惯性大大降低的惯例所定义的。

7. 发明授权

US3994187A Epicyclic transmission 失效
标题翻译：行星传播
公开(公告)号：US3994187A
公开(公告)日：1976-11-30
申请号：US550239
申请日：1975-02-14
申请人： Veljko Milenkovic
发明人： Veljko Milenkovic
IPC分类号： F16H1/32 , F16H1/28
CPC分类号： F16H1/32
摘要： An epicyclic transmission of the class wherein rotation of a crankshaft isransferred to an output shaft by means of discs mounted eccentrically on the crankshaft, operating stably over a wide range of operation. All of the centrifugal forces developed in the various rotating members are compensated to improve stability. One embodiment includes shoulders integral with the discs abuttingly engaging guidetracks integral with the transmission housing for transmitting centrifugal forces to the housing. Another embodiment includes pin support means for counterbalancing skewing forces which result from unsynchronized disc rotation. A third embodiment utilizes a cage comprising supportings and bars for transmitting torque to the output shaft. A fourth embodiment utilizes a planetary gearing arrangement for transferring input rotation to a plurality of driver shafts. The rotation of the driver shafts is transferred to the output shaft by a plurality of seating rings.
摘要翻译：该类的行星传动装置，其中曲轴的旋转通过偏心安装在曲轴上的盘传递到输出轴，在宽的操作范围内稳定地操作。在各种旋转构件中产生的所有离心力被补偿以提高稳定性。一个实施例包括与盘成一体的肩部与传动壳体成一体的导轨接合，以将离心力传递到壳体。另一个实施例包括用于平衡由不同步的盘旋转产生的偏斜力的销支撑装置。第三实施例使用包括支撑件和杆的保持架来将扭矩传递到输出轴。第四实施例利用行星齿轮传动装置将输入旋转传递到多个驱动轴。驱动轴的旋转通过多个安装环传递到输出轴。

8. 发明授权

US4744264A Hollow non-singular robot wrist 失效
标题翻译：空心非单机器人手腕
公开(公告)号：US4744264A
公开(公告)日：1988-05-17
申请号：US934526
申请日：1986-11-24
申请人： Veljko Milenkovic
发明人： Veljko Milenkovic
IPC分类号： B25J17/02 , G05G11/00
CPC分类号： B25J17/0258 , Y10T74/20335
摘要： The end of a robot arm includes two links, a first or inner link supported rotatably about a central axis and an end link on which a tool is carried. Located between the links are a ring and a tube whose longitudinal axes are concentric. Each of four gimbal rings is used as a member of a universal joint that connects the links, the ring and the tube. The links are connected by two universal joints in series, and the ring connects these joints. The links are also connected by two other universal joints in series and the tube connects this second pair of joints. The first and second pairs of universal joints connected in series are connected to one another in parallel. Gimbal rings rotatably supported on the tube and on the links for angular movement about the yaw axis provide rotational support for the links and the connecting rod about the pitch axis. Actuating rods connected to the inner set of gimbal rings produce articulation of the wrist about these axis when the rods are actuated. Angular pitch displacement and angular yaw displacement are equalized between the inner set of gimbal rings and the outer set of gimbal rings by tension members.
摘要翻译：机器人臂的端部包括两个连杆，围绕中心轴线可旋转地支撑的第一或内部连杆以及在其上承载工具的端部连杆。位于连杆之间的是一个环和一个长轴同心的管子。四个万向节环中的每一个用作连接环节，环和管的万向节的构件。连杆通过两个万向节串联连接，环连接这些接头。连杆还通过两个其他的万向节串联连接，管连接第二对接头。串联连接的第一对和第二对万向接头彼此并联连接。可旋转地支撑在管上的链环和围绕偏转轴线的角运动的链环提供围绕俯仰轴线的连杆和连杆的旋转支撑。当杆被致动时，连接到内部组的万向环的致动杆产生关于这些轴的关节。角度间距位移和角偏转位移在内部组的万向环和平衡环之间由张力构件相等。

9. 发明授权

US4350941A Control for automatic machine tool drive 失效
标题翻译：自动机床驱动控制
公开(公告)号：US4350941A
公开(公告)日：1982-09-21
申请号：US188449
申请日：1980-09-19
申请人： George W. McClure , Veljko Milenkovic
发明人： George W. McClure , Veljko Milenkovic
IPC分类号： G05B19/23 , G05B19/28
CPC分类号： G05B19/232 , G05B2219/34215 , G05B2219/37154 , G05B2219/37183 , G05B2219/41047 , G05B2219/41092 , G05B2219/42182 , G05B2219/43006 , G05B2219/43097 , G05B2219/43152 , G05B2219/43182
摘要： A motion control system includes a single stage gear reducer and power screw, a brushless variable-speed electric motor with position and velocity sensing instrumentation, a solid state power amplifier, and a programmable controller. During operation an absolute positional reference is established when the slide actuates a non-contacting limit switch to signal that the slide is within less than one motor revolution of the correct starting point. A memory accessible by a microprocessor has paired values of velocity and position stored in a table representing ideal such values for deceleration portions of the motion cycle. Alternatively, the microprocessor computes each new value of position and velocity in real time as required to update the velocity commands sent to a comparator. The comparator compares the predetermined slide position to the actual slide position and signals the microprocessor that a change in output to the motor power supply is required. A digital to analog converter converts the motor velocity signal that issues from the microprocessor to a variable d.c. voltage whose magnitude varies over a range that determines the sense of direction and speed of the drive motor.
摘要翻译：运动控制系统包括单级齿轮减速器和动力螺杆，具有位置和速度感测仪器的无刷变速电动机，固态功率放大器和可编程控制器。在操作期间，当滑块启动非接触限位开关以指示滑块位于正确起点的小于一个电机转速内时，建立绝对位置参考。由微处理器访问的存储器具有存储在表示运动周期的减速部分的理想值的表中的速度和位置的成对值。或者，微处理器根据需要实时地计算每个新的位置和速度值，以更新发送到比较器的速度命令。比较器将预定的滑动位置与实际滑动位置进行比较，并向微处理器通知需要电动机电源的输出变化。数模转换器将从微处理器发出的电机速度信号转换成可变直流电。电压的大小在确定驱动电机的方向和速度感的范围内变化。

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