17 results about "Six degrees of freedom" patented technology

The invention discloses a surgical operation-assisting electrical locking bracket, which comprises a handle, a wrist joint, a fore arm, an elbow joint, an upper arm, a shoulder joint, a waist joint and a base rod, wherein one end of the handle is connected with an operation-assisting tool; the other end of the handle is connected with the wrist joint connected with one end of the fore arm; the other end of the fore arm is connected with the elbow joint connected with one end of the upper arm; the other end of the upper arm is connected with the shoulder joint connected with the waist joint; the joint axes of the shoulder joint and the waist joint are perpendicular to each other; and the waist joint is connected with the base rod through a machine frame arranged on the waist joint. The bracket has four joints, six degrees of freedom, position and attitude decoupling and large tail-end working space and can meet needs of surgical departments such as thoracoabdominal department. In addition, the bracket has the advantages that: the operation is very convenient; the structure is simple; the cost is low; and a weight self-balancing mechanism can perform adjustment according to the load at a tail end.

The invention discloses a six-degree-of-freedom mechanical arm device of a block press dedicated for an optical element. The six-degree-of-freedom mechanical arm device comprises a base, a rotary driving component, a big arm component, a small arm component, a hand component and a wrist component, wherein the rotary driving component comprises a base motor, a harmonic reducer, a base rotation shaft and a coupler; the big arm component comprises a big arm, a big arm driving motor and a first cycloidal pin gear reducer; the small arm component comprises a small arm, a small arm driving motor and a second cycloidal pin gear reducer; the big arm driving motor is connected with the bottom of a big arm; the base motor, the big arm driving motor and the small arm driving motor are all hollow shaft motors; the hand component is provided with a minitype temperature sensor. The six-degree-of-freedom mechanical arm device has the advantages of compact and simple structure, convenience in pipeline arrangement, easiness in operation and convenience in adjustment, a workpiece and a mould can be picked and placed, the temperature change of the workpiece and the mould after mould pressing can be detected in real time, the use efficiency of the block press is improved, and the damage possibility of the workpiece and the mould can be lowered.

The invention discloses a disturbing force compensation method of a two-degree-of-freedom double electro-hydraulic vibrostand array simulation system. The two-degree-of-freedom double electro-hydraulic vibrostand array simulation system comprises a lower platform, a six-degree-of-freedom vibrostand, a two-degree-of-freedom vibrostand, a pier A, a pier B and a bridge board. According to the disturbing force compensation method disclosed by the invention, pressure difference signals of two chambers of hydraulic cylinders in 10 valve-controlled cylinder cylinders and acceleration signals of piston rods of the hydraulic cylinders are collected, and disturbing force compensation signals are obtained by calculation. Driving signals of the valve-controlled cylinder cylinders are adjusted by usingthe disturbing force compensation signals to achieve the purpose of improving the control precision of the array simulation system. By application of the disturbing force compensation method proposedby the invention, the fluctuation 6dB of amplitude-frequency characteristics of a closed-loop transfer function of a rolling degree-of-freedom position in the vicinity of 18 Hz can be reduced within2dB, and the fluctuation 16dB of the amplitude-frequency characteristics of the closed-loop transfer function of a pitching degree-of-freedom position in the vicinity of 35 Hz can be reduced within 4dB, and the control precision of the array simulation system is obviously improved.

Instrument coupling interfaces and related methods are disclosed herein, e.g., for coupling a surgical instrument to a navigation array or other component. An exemplary coupling can include a first coupling interface associated with a first object, such as a surgical instrument, and a second coupling interface associated with a second object, such as a navigation array. The coupling interfaces can be configured to ensure that, when mated, the first and second objects are disposed in a known position and orientation relative to one another and blocked from relative movement in all six degrees of freedom. The interfaces can have a geometry that is not overdetermined, minimizing or eliminating navigation inaccuracy associated with system tolerances. An exemplary coupling can include counterpart centering features for blocking X-axis translation and Y-axis translation, counterpart rotation stops for blocking Z-axis rotation, counterpart reference planes for blocking X-axis rotation, Y-axis rotation, and Z-axis translation in a first direction, and a locking element for blocking Z-axis translation in a second, opposite direction.

The invention discloses a six-degree-of-freedom intelligent cooperative robot. The robot comprises a base, a plurality of joints and a plurality of connecting rods; the base is fixedly connected withthe joints; the joints are fixedly connected or connected through the connecting rods; a motor, a brake, an encoder and a speed reducer are sequentially arranged on a transmission shaft in a sleevingmode; the surface of one side of an encoder mounting shell is provided with a mounting groove allowing a driver to be embedded in; the side, opposite to the mounting groove, of the encoder mounting shell is provided with an external connecting portion; the external connecting portion is connected with an external structure; the center of the motor mounting shell is provided with a motor cavity; the end, close to a brake mounting cover, of the motor cavity is provided with an inner flange; a supporting sleeve is arranged on the transmission shaft in a sleeving mode; the supporting sleeve is composed of an outer ring portion, a ball portion and an inner ring portion; the inner ring portion is tightly connected with the surface of the outer side of the transmission shaft; and the outer ring portion makes contact with and is connected with the surface of the inner side of the encoder mounting shell. By arranging the six joints, the six-degree-of-freedom intelligent cooperative robot has six degrees of freedom and can conduct various operations such as grasping and handling.

The invention discloses a solving method for a six-degree-of-freedom series robot inverse kinematics solution. The method comprises the steps that connecting rod parameters are read in and a robot connecting rod coordinate system model is established; the joint positions of the tail ends of connecting rods are known, and joint position constrained equations are established; all the joint positions are determined according to all the joint position constrained equations; the attitude constraint equations of all joint coordinate systems of a robot are established; the solutions of the joint position coordinates obtained before are substituted in the attitude constraint equations respectively, and each group of joint variable intermediate values are solved according to the attitude constraint equations; and the joint variable intermediate values are analyzed, and an optimal joint variable solution is selected. The positions and the attitudes in the robot inverse kinematics solution are separately solved by adopting the spatial geometry theory so that complexity of geometric inverse kinematics solution operation can be greatly reduced, and the method can be applied to the field of robot space obstacle avoidance.

The invention relates to a precision installation on-track mechanical arm device and belongs to the technical field of precision instrument hoisting and precision installation in the mechanical engineering field. The mechanical arm device comprises a trailer, a rotation mechanism, a traction trolley, a track, a telescopic mechanism, a horizontal movement mechanism and a manipulator, wherein the trailer is suspended on the track through a trailer wheel set mechanism; the traction trolley is suspended on the track through a traction trolley wheel set mechanism and fixedly connected with the trailer; the rotation mechanism is fixed to the lower portion of the trailer; the telescopic mechanism is fixed below the rotation mechanism; the telescopic end of the telescopic mechanism is connected with the horizontal movement mechanism; and the horizontal movement end of the horizontal movement mechanism is connected with the manipulator. By adoption of the on-track running scheme, flexible obstacle avoidance in a narrow space is achieved through multi-degree-of-freedom coupled hoisting; and through combination of the primary in-place installation of a large-range movement mechanism with six-degree-of-freedom fine-adjustment precise docking, high-efficiency and high-precision docking installation of optical assemblies is achieved, and the precision installation on-track mechanical arm device is suitable for hoisting of heavy optical assemblies.

A carriage is intended to be disposed transversely between essentially-parallel lateral girders. The carriage comprises: stirrups which are disposed at the lateral ends and which each cooperate with a lateral girder in order to enable the movement of the carriage along the longitudinal axis (x) of the lateral girders; a central girder which is placed between the stirrups; first connecting means which are provided between a first lateral end of the central girder and the first stirrup, and second connecting means which are provided between a second lateral end of the central girder and the second stirrup. The aforementioned connecting means are arranged such as to enable the movement of one stirrup in relation to the other with six degrees of freedom and a limited amplitude.

The invention discloses a six-degree-freedom entire movement restrained system of a floating platform. The six-degree-freedom entire movement restrained system of the floating platform comprises a rotating body set composed of an adjustable latticed tuning liquid column damper and a hollow rotating body with an opening at the bottom which is immerged into water; the adjustable latticed tuning liquid column damper is arranged on a certain layer of deck surface, above the water surface, in the floating platform, an upright pillar is arranged below the deck, a caisson connecting upright pillar is arranged at the bottom of the upright pillar, the top portion of the hollow rotating body with an opening at the bottom which is immerged into water is connected with a rotating arm of a sliding groove, the rotating arm of the sliding groove is provided with the sliding groove for sliding of the rotating body, one end of the rotating arm of the sliding groove is provided with a rotating shaft, and the rotating arm of the sliding groove is arranged on the upright pillar through the rotating shaft. According to the six-degree-freedom entire movement restrained system of the floating platform, the operating cost of a floating platform vibration damper is low, the operation is simple, and the use, installation, disassembly and moving are very convenient; the cost and operating expense are low, and the floating platform vibration damper is suitable for various floating platforms.

The embodiment of the invention provides a controllable multi-point ground contact leg structure of a quadruped robot and a control method. A forearm comprises two or more ground contact points which are separated from each other; the plurality of ground contact points can be independently driven; the structure is simple, the reliability is high, and the possibility of low-cost and large-scale manufacturing is achieved; the leg structure is compatible with high trafficability of a traditional quadruped robot, and traditional control can be directly transplanted to the leg structure; in addition, a traditional quadruped robot belongs to an under-actuated system, the upper body has six degrees of freedom, but only five independent controls can be provided. According to the invention, the quadruped robot can have full-time and continuous six independent control of all six degrees of freedom of the upper body. The quadruped robot can achieve a full-drive system through a simple overall layout, and the stability of the quadruped robot is greatly improved while the high trafficability and high adaptability of a traditional quadruped robot are not affected.

The invention discloses a measuring head space posture measuring method guided by ultrasonic positioning. The method is characterized in that an ultrasonic positioning guidance measuring head is provided. The ultrasonic positioning guidance measuring head comprises a flat plate, the front face and the back face of the flat plate are respectively and fixedly provided with a set of ultrasonic transmission sensors, each set of ultrasonic transmission sensors comprises four ultrasonic transmission sensors, the bottom side of the flat plate is connected with a probe, an electromagnetic transmission antenna is installed on the top side of the flat plate, the four ultrasonic transmission sensors in each set are excited by four ultrasonic frequencies of different values, and normal directions of vibration faces of the four ultrasonic transmission sensors in each set are pointed to the same direction of the outer side face of the flat plate. According to the method, direct measuring on six-degree-of-freedom postures of measuring head space is achieved, measuring error, caused by linearity of a large-stroke guide rail of a large-size measuring machine, stress deformation in a measuring head elastic supporting body, imbalance force of the elastic supporting system and the like, is removed, and the precision and reliability of large-size measuring are improved.

The invention discloses a space six-degree-of-freedom non-contact vibration isolation platform for aerospace, comprising a base, a working platform, and first to fourth electromagnetic vibration isolators arranged between the base and the working platform; each The vibration isolators can achieve vibration isolation in the x and y directions in the plane. The four vibration isolators are evenly distributed on the four sides of the base. The platform has low natural frequencies in the six degrees of freedom, which can effectively suppress the vibration of the six degrees of freedom Low frequency micro vibration. The present invention is applicable to the vibration isolation of equipment in the field of aerospace precision instruments. When the platform base is disturbed and vibrations are generated in six degrees of freedom, these vibrations can only be transmitted to the precision load through the vibration isolation platform, while the platform Its own stiffness is extremely low, which greatly reduces the disturbance of precision loads.

The invention belongs to the technical field of hydrodynamics experiments of ship model experimental tanks, and particularly relates to a forced six-degree-of-freedom motion instrument. The forced six-degree-of-freedom motion instrument includes an experimental machine frame, a pitching-rolling connecting rod and a torque servo motor driving device; forced six-degree-of-freedom of a ship model simulates a passive seakeeping experimental device to do a seakeeping experiment of a six-degree-of-freedom ship model motion state, the seakeeping experiment correspondingly includes pitching, rolling,heaving, yawing, surging and swaying, and through the measurement modes, a six-dimensional hydrodynamic coefficient matrix is obtained; and hydrodynamic coefficients of the ship model, such as additional mass and drag coefficients during ship model motion, are analyzed and calculated to further predict the motion of a ship in waves. According to the forced six-degree-of-freedom motion instrument,the sinusoidal linear velocity is generated through an eccentric wheel, thus the contact strength and the motion stability of a mechanism are increased; and the six-degree-of-freedom motion instrumenthas the advantages of a compact and reasonable structure, convenient operation, high test efficiency, comprehensiveness, economical efficiency and the like, and the application prospects are wide.