| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 201 | STEERABLE MULTI-LINKED DEVICE HAVING A MODULAR LINK ASSEMBLY | US11923246 | 2007-10-24 | US20080163603A1 | 2008-07-10 | Brett Zubiate; Howard M. Choset; Amir Degani; Michael Schwerin |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base. | ||||||
| 202 | STEERABLE MULTI LINKED DEVICE HAVING MULTIPLE WORKING PORTS | US11838519 | 2007-08-14 | US20080039690A1 | 2008-02-14 | Brett Zubiate; Amir Degani; Howie Choset |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable. | ||||||
| 203 | Mechanical serpentine device | US11293701 | 2005-12-01 | US20060156851A1 | 2006-07-20 | Stephen Jacobsen; David Markus; David Marceau; Shayne Zurn |
| A serpentine device having a proximal end and a distal end comprising a series of discs arrayed in succession and on center along a common, neutral axis, wherein the discs comprise a first and second surface; and at least one flexible interconnect extending between and connecting each disc to any succeeding disc according to a pre-determined connection configuration, wherein the interconnects are indirectly connected to one another through the discs and configured to provide torsional and bending support to each of the discs connected thereto under an applied load, thus achieving a continuum of flexibility along an entire length of the serpentine device, as well as to facilitate the torquability of the serpentine device. The serpentine device may further comprise a bendable member and at least one transfer element configured to perform one or more transfer functions, namely the transfer of energy, work, fluid, electricity, light energy, sound energy, matter, etc. from one location to another location, and particularly from a source to one or more of the discs of the serpentine device. An actuation system is also featured, which is configured to selectively actuate the discs in a pre-determined direction in three-dimensional space. | ||||||
| 204 | Positioning, exploration, and/or intervention device, in particular in the field of endoscopy and/or mini-invasive surgery | US10274454 | 2002-10-21 | US20030149338A1 | 2003-08-07 | Christian Francois; Frank Boudghene; Pierre Joli |
| The positioning, intervention, and/or exploration device has two endpieces (6a-6d, 7) and at least one cable (20) extending from one endpiece to the other (6a-6d, 7), it has at least two bellows (10) each fixed directly to both of the endpieces and it has means (12, 18) for modifying the pressure of a fluid in each of the bellows independently of the other bellows. | ||||||
| 205 | Low cost, high-strength robotic arm | US09814483 | 2001-03-21 | US06431019B1 | 2002-08-13 | Michael L. Greene; Samuel J. DeVane; Jacob Tallman |
| The present invention is a robotic arm with a plurality of telescoping tubes coupled rotatably to a plurality of rings through apertures in the rings. A plurality of tendons pass through the telescoping tubes. Tension is applied to the plurality of tendons to move the telescoping tubes. A controller is employed to direct the amount of tension applied whereby the robotic arm moves as directed. | ||||||
| 206 | IONIC POLYMER SENSORS AND ACTUATORS | US09258602 | 1999-02-26 | US20020039620A1 | 2002-04-04 | MOHSEN SHAHINPOOR; MEHRAN MOJARRAD |
| Ion exchange membrane-based sensors, actuators and sensor/actuators and methods of making same for applications requiring sensing, actuating and controlling displacement. Sensors, actuators, and sensor/actuators are useful in biological as well as other applications. Encapsulation of the sensors, actuators, or sensor/actuators further increases the utility of the present invention. Devices according to the present invention made using lithium are preferred over those made using only sodium. | ||||||
| 207 | Deformable structural arrangement | US541195 | 1995-10-16 | US5727391A | 1998-03-17 | Vincent Hayward; Danny Grant |
| An actuator develops a displacement from a force; the actuator employs active tension elements which comprise a fiber or fibers which shorten under activation, for example, shape memory alloy fibers; the fiber or fibers are entrained between opposed, spaced apart support members, typically a stack of spaced apart disks; the entrained fiber or fibers define a cage of crossing lengths of fiber in symmetrical array, typically a helicoidal array. Activation of the fibers shortens the fiber lengths producing a relative displacement of the support members which can be translated to a component which is to be displaced, and to which the actuator is operably connected, in another embodiment the active tension elements stretch under stress so that instead of an actuator there is formed a shock absorber which eliminates displacement with a force. | ||||||
| 208 | Flexible robot arm | US211581 | 1994-04-08 | US5469756A | 1995-11-28 | Wendelin Feiten |
| Flexible robot arms are required for manipulation in environments having difficult access, for example, areas having restricted environments and areas beset with obstacles. An apparatus having various basic elements which are flat, arranged one on top of the other so as to tilt and are connected to one another by means of joints is provided. Here, the individual basic elements are arranged along a stacking axis. Between the individual basic elements, adjusting members, e.g. air chambers are provided which make it possible to set a precise angle between the respective basic elements. Control logic and a control bus with an electric power supply ensure in each adjusting member that the predetermined position is maintained. | ||||||
| 209 | Flexible positioning appendage | US909960 | 1992-07-07 | US5297443A | 1994-03-29 | John D. Wentz |
| A flexible appendage for use as a robot arm, controllable medical instrument, or simply a toy, has flexibly coupled segments defining an open lumen, and flanges protruding laterally of the axis. The flanges have passages for control lines spaced laterally from the axis. Each control line is fixed to a segment and can be pulled through the other segments from the proximal end. The control lines shorten a lateral side of the appendage to controllably bend it. Resilient couplings between the segments, leave open the lumen for passage of conduits or tools. The couplings can be helical springs wound with turns which abut at rest, such that the couplings elongate on the outside of a bend but do not compress on the inside, thereby maintaining the overall length of the appendage. The control lines are distributed around the axis, and can be arranged in ranks for controlling groups of the segments at different distances from the proximal end. The springs coupling proximal segments are more rigid than for distal segments, and the segments can be smaller and/or longitudinally shorter approaching the distal end. | ||||||
| 210 | In bundle foreign object search and retrieval apparatus | US661825 | 1991-02-27 | US5286154A | 1994-02-15 | Stephen C. Jens; Michael W. Osborne; Paul F. Viola; Christos Athanassiu; Robert A. S. Lee |
| An apparatus (10) for the location and removal of foreign objects from a difficult to access geometry utilizes a flexible lance (12) formed of individual hose bar segments (14) strung on cables (16) to give a structure that is flexible along its length and fairly rigid in a direction transverse to its length. Extending from working channels (18) of nozzle block (20) of the lance (12) are a pair of multi-prong retrievers (22). A miniaturized Videoprobe camera (24) is provided in the nozzle block (20) between the two retrievers (22). The retrievers are each connected to an actuating cable (26), which extends through the flexible lance (12) to a manual control (28). The camera (24) is connected by a cable (30) to suitable video processing circuits for generation of images on a video display (32). The cable (30) also houses a fiber optic bundle which conveys light to the area being serviced by the lance (12). The flexible lance (12 ) extends through a transporter (34), which positions the nozzle block end of the lance (12) opposite a portion of a steam generator or other difficult to access geometry. The transporter (34) moves along a transport rail (36) to move the nozzle block end of the lance (12) into position. The lance (12) is then advanced through the transporter (34) to move the nozzle block end into the difficult to access geometry and retracted to withdraw the nozzle block end from the difficult to access geometry. | ||||||
| 211 | Flexible robotic arm | US754828 | 1991-09-04 | US5142932A | 1992-09-01 | Israel A. Moya; Philip A. Studer |
| A plurality of identical modules are serially connected together with each module including a base plate and a top plate interconnected by a universal joint assembly so that the top plate is adapted to pivotally nutate around the base plate to describe a cone in space. An array of twenty-four electromagnets, sequentially energized in sets of three, are arranged in a ring around the periphery of the base plate. Selective energization of the eight sets of electromagnets causes the rim of the top plate to be magnetically attracted to the energized electromagnets. The tilt of the top pivot plate is detected and controlled over a range of 360.degree., thus permitting a series string of modules to assume any desired elongated configuration. | ||||||
| 212 | Flexible arm | US415279 | 1989-10-24 | US4977790A | 1990-12-18 | Yozo Nishi; Hiroaki Takagi |
| A flexible arm capable of smoothly effecting bending for an extended period and improving positioning accuracy comprises a plurality of vertically stacked units (1) consisting of one disc (5) which has projectingly curved contact surfaces on both sides in an axial direction, one support plate (4) which is fixed to a coaxial center hole of the disc and has a plurality of plate fitting surfaces (4a) disposed on both sides of the peripheral portion in the axial direction with their phases shifted from one another, two torsion plates which have a center hole for loosely accommodating the disc and fitting surfaces (19) around their peripheral portions fixed to the plate fitting surfaces of the support plate, and one intermediate plate (6) which has a center hole for loosely accommodating the disc and whose fitting surfaces (15) around its peripheral portion on both sides in the axial direction are fixed to the fitting surfaces of the torsion plates on the opposite side to the support plate. | ||||||
| 213 | Robotic arm systems | US401338 | 1989-10-02 | US4954952A | 1990-09-04 | Shivadev K. Ubhayakar; Robert D. Baker |
| A multisection flexible multidigit arm contains hands at each end, each of which hands contains a set of fingers, suitably three, which are similarly formed flexible multidigit arms constructed to a smaller scale. Each hand contains connectors for coupling the hand to a mating connector mounted on an associated structure to provide appropriate power and control signals to the arm. One hand may grip the connector and the other hand is free to move to various positions and perform various tasks. In an additional aspect the arm may move to different locations by somersaulting between spaced connectors in the system. In an assembly system the robotic arms are used to construct frames or other assemblies.A completely self contained arm includes a self contained source of power. Radio communication means are provided to allow electronic interaction with the arm from a remote location. In an additional aspect the self contained circuitry includes processor means programmed to control the arm to perform a certain task, relieving the operator at the remote location from specifying the details.Control signals to the sections of the arm in an additional aspect to the disclosed invention are provided by an electrical system that uses only a few wires by multiplexing the signals and the actuators, effectively "time sharing" the electrical leads between the large number of actuators. | ||||||
| 214 | Expandable and contractible arms | US940941 | 1986-12-12 | US4818175A | 1989-04-04 | Motohiko Kimura |
| An expandable and contractable arm is constituted by a plurality of expandable and contractable units and connecting devices including universal joints for serially interconnecting the units into the arm. Each unit includes at least three expandable and contractable operating members in the form of link mechanisms or double thread type expandable and contractable rods, and actuating devices for equally or unequally expanding and contracting the operating members so as to increase or decrease distances between the connecting members while maintaining them in parallel or inclined with respect to each other. | ||||||
| 215 | Grappling device | US938947 | 1986-12-08 | US4815782A | 1989-03-28 | Preston S. Craig; Jeffrey A. Fisher |
| A grappling device comprises an arm formed from a closed ended, inflatable tube (5) having a plurality of generally parallel, longitudinally spaced bands (15) disposed therearound for limiting the radial distention of the arm when inflated. A longitudinally inelastic, laterally flexible band (20) disposed on a surface of the arm causes the arm, when inflated, to wrap around an object to be gripped. The extent of the inflation of the arm determines the gripping force and geometry of the device. | ||||||
| 216 | Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements | US13247 | 1987-02-10 | US4784042A | 1988-11-15 | Henry M. Paynter |
| The method and system employ strings of tension actuators in opposed relationship for controlling motions or deflections of jointed members: for example, for controlling the motions of arms, legs and elephant trunks or flexible antennae in robots and for controlling the deflections of beams and columns in frames and structures. These opposed tension actuators are inflated with controlled air pressures which are oppositely varied from a predetermined common-mode pressure P.sub.o (initial fluid pressure level P.sub.o). In other words, as one tension actuator is being inflated with pressure increasing above P.sub.o, the opposed tension actuator is being inflated with pressure decreasing below P.sub.o for producing motion or deflection of the jointed member in one direction, and conversely for producing motion or deflection in the other direction. The opposed tension actuators have their ends anchored to rigid movable plates or struts containing sockets for the respective joints. By virtue of controlling the opposed actuators with a common-mode pressure level P.sub.o, they are always exerting a net compressive force on each joint, so advantageously permitting usage of simple, inexpensive, lightweight, non-capturing joints as shown. Moreover, the jointed member automatically returns to a predetermined midrange rest position whenever air pressures are returned to P.sub.o. A nearly uniform stiffness (or mechanical output impedance) is provided at all positions by controlling the opposed pressures to be P.sub.o +.DELTA.P and P.sub.o -.DELTA.P, where .DELTA.P is a corresponding increment above and below the initial (common-mode) level P.sub.o. In this way, precision open-loop proportional control is achieved. | ||||||
| 217 | Object manipulator | US872493 | 1986-06-10 | US4765795A | 1988-08-23 | Jack Rebman |
| An elongate main body section of the manipulator has its opposite ends respectively connected to a base section and an object support section. The main body section consists of elongate flexible rod members extending in generally parallel spaced relationship to each other and to the central axis of such section. The lower end portions of the rods are driven by drive mechanisms within the base section to selectively cause the main body section to undergo extension/retraction, bending and/or twisting movement in desired directions. The rod members may be resiliently flexible throughout their entire extent, or may be comprised of rigid sections interconnected by elastomeric joints. In one embodiment the drive mechanisms imparts rotation to the lower end portion of each rod member to produce twisting of the main body section, while in another embodiment axial movement imparted to the rods is reacted by an object support section having relatively moveable components to produce the twisting movement. | ||||||
| 218 | Flexible, extensible robot arm | US485654 | 1983-04-18 | US4551061A | 1985-11-05 | Ralph W. Olenick |
| A robot arm formed of a bundle of adjacent elastomeric tubes supplied independently with fluid pressure to force bending, extension or contraction. The tubes are maintained in parallel alignment by means of spaced apart parallel ribs through which the tubes pass. Parallel, spaced apart, rods extending through the ribs, but fixed at one end, have opposite free ends passing into position sensors. Bending and lengthwise changes in arm position may be sensed by the rods and used to control pressure in individual arms to correct or change arm position. | ||||||
| 219 | Actuator | US3712481D | 1971-12-23 | US3712481A | 1973-01-23 | HARWOOD O |
| A remotely controllable actuator system comprised of one or more modules having a first plurality of wedge links connected together by torque transmission means, a second plurality of wedge links which are connected together by torque transmission means positioned between the links of the first plurality of wedge links and in sliding contact therewith and third torque transmitting means extending from one end of the module to the other. The module also may include controllable drive means for rotating the first plurality of wedge links with respect to the second plurality of wedge links to cause bending of the module in a predetermined plane and second drive means for driving said first and second pluralities of wedge links with respect to the third torque transmitting means to change the predetermined plane of curvature in which the module can bend.
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| 220 | Mechanism for remote manipulation of industrial objects | US22211262 | 1962-09-07 | US3173555A | 1965-03-16 | KAYE ANTHONY J |
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