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    • 1. 发明申请
    • SOFT-BODY DEFORMATION AND FORCE SENSING
    • 软体变形和力传感
    • US20160265985A1
    • 2016-09-15
    • US15064872
    • 2016-03-09
    • Worcester Polytechnic Institute
    • Cagdas D. OnalSelim Ozel
    • G01L1/12B25J13/08
    • G01L1/122B25J13/088B25J15/12G01L5/226Y10S901/46
    • A robotic sensing and touch apparatus detects gradual deformations in a resilient surface, in contrast to conventional rigid member displacement. Hall effect sensors coupled to rare-earth magnets in a deformable base allow sensing of surface curvature and compression against grasped objects. The deformable base, such as a silicone mold or other resilient encapsulation, fixes a magnetic source and an opposed Hall effect sensor. Calibration of a received magnetic field is defined by a sensor element voltage in an “at rest” (undeformed) state, and at successive degrees of deformation resulting from compression of the deformable base that draws the magnet in different orientations relative to the Hall effect sensor. An array of magnet and sensor element pairs allows relative sensing over an area for detecting curvature of a translated or articulated member, or engagement with a curved surface.
    • 与传统的刚性构件位移相比,机器人感测和触摸装置检测弹性表面中的逐渐变形。 耦合到可变形基座中的稀土磁体的霍尔效应传感器允许感测表面曲率和对被抓住物体的压缩。 可变形基座,例如硅树脂模具或其他弹性封装,固定磁源和相对的霍尔效应传感器。 接收磁场的校准由“静止”(未变形)状态的传感器元件电压定义,并且由相对于霍尔效应传感器以不同取向拉动磁体的可变形基座的压缩引起的连续变形程度 。 磁体和传感器元件对的阵列允许在用于检测平移或铰接构件的曲率的区域上相对感测,或者与弯曲表面接合。
    • 4. 发明申请
    • DESIGN AND FABRICATION OF ROBOTIC MECHANISMS AND SYSTEMS FROM PLANAR SUBSTRATES
    • 来自平面基底的机器人机构和系统的设计和制造
    • US20160318194A1
    • 2016-11-03
    • US15095366
    • 2016-04-11
    • Worcester Polytechnic Institute
    • Cagdas D. OnalFuchen ChenWeijia Tao
    • B25J19/00B62D57/032
    • A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimensional substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.
    • 机器人配置采用由一系列切割和折叠的平面材料制成的低成本,相对轻重的梁和连杆的系统。 梁沿着折线折叠以从诸如聚酯或其它半刚性片的二维基底形成三维结构。 切割成平面材料的标签和附件或键将与切割成相邻构件的狭缝或孔相接合以限定连接。 连杆包括可以以单向方式插入的突出部,从而防止了移除,而是通过平面片材的弹性和柔性来允许旋转运动。 基于施加在单个平面片上的图案切割并形成梁和连杆的布置。 梁和连杆装置限定了用于运输和其它动作的机器人配置,诸如马达等动作源。