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    • 4. 发明申请
    • PASSIVE TORQUE BALANCING IN A HIGH-FREQUENCY OSCILLATING SYSTEM
    • 在高频振荡系统中的被动扭矩平衡
    • WO2011142864A3
    • 2012-05-10
    • PCT/US2011024479
    • 2011-02-11
    • HARVARD COLLEGESREETHARAN PRATHEEVWOOD ROBERT
    • SREETHARAN PRATHEEVWOOD ROBERT
    • B64C39/02B64C33/02
    • B64C33/02B64C33/00B64C39/028B64C2201/025Y10T74/18928Y10T74/18968
    • A passively torque-balanced device includes (a) a frame; (b) a drivetrain including a drive actuator mounted to the frame and configured for reciprocating displacement, an input platform configured for displacement by the drive actuator, a plurality of rigid links, including a proximate link and remote links, wherein the rigid links are collectively mounted to the frame, and a plurality of joints joining the rigid links and providing a plurality of non-fully actuated degrees of freedom for displacement of the rigid links, the plurality of joints including a fulcrum joint that is joined both to the input platform and to the proximate rigid link; and (c) at least two end effectors respectively coupled with the remote links and configured for displacement without full actuation.
    • 无源扭矩平衡装置包括(a)框架; (b)传动系统,其包括安装到所述框架并被构造成用于往复运动的驱动致动器,构造成用于由所述驱动致动器移位的输入平台,包括邻近链节和远程链节的多个刚性连杆,其中所述刚性连杆集体 安装到框架上的多个接头以及连接刚性连杆并且提供多个非完全致动的刚性连杆的移动自由度的多个接头,所述多个接头包括支撑接头,其连接到输入平台和 到邻近的刚性连接; 和(c)至少两个末端执行器,其分别与远程链节联接并被配置为在没有完全致动的情况下进行位移。
    • 8. 发明申请
    • ANGULAR RATE SENSOR USING MICRO ELECTROMECHANICAL HALTERE
    • 使用微电子半导体的角速率传感器
    • WO2004102205A2
    • 2004-11-25
    • PCT/US2004014009
    • 2004-05-05
    • UNIV CALIFORNIAWU WEI-CHUNGWOOD ROBERT
    • WU WEI-CHUNGWOOD ROBERT
    • G01C19/56G01P
    • G01C19/56
    • An angular rate sensing system suitable for a micromechanical flying insect (MFI) device. The system includes a rod, or haltere, that is moved in a plane by a piezoelectric actuator. Bending of the haltere due to angular movement of a body onto which the haltere is coupled is sensed with a resistive strain gage. In a first embodiment the haltere is actuated (i.e., made to beat or sweep) by simple coupling to an actuator. In a second embodiment, a four-bar structure is used to amplify the motion of a piezoelectric bender to cause haltere beating. Another embodiment achieves haltere beating by parasitic transmission of vibrations of the MFI body to the base of the haltere.
    • 适用于微机械飞虫(MFI)装置的角速度检测系统。 该系统包括通过压电致动器在平面中移动的杆或止动件。 用电阻应变计感测由于耦合在其上的身体的角运动引起的停止的弯曲。 在第一实施例中,通过与致动器的简单联接来致动(即,使之打败或扫掠)该蹄。 在第二实施例中,使用四杆结构来放大压电弯曲机的运动以引起停止跳动。 另一个实施例通过将MFI体的振动的寄生传播抑制到停止的基部来实现停止。