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公开(公告)号：WO2019041038A1
公开(公告)日：2019-03-07
申请号：PCT/CA2018/051044
申请日：2018-08-29
Applicant: SOCIETE DE COMMERCIALISATION DES PRODUITS DE LA RECHERCHE APPLIQUÉE SOCPRA SCIENCES ET GÉNIE S.E.C. , EXONETIK INC.
Inventor： RANCOURT, David , LUSSIER DESBIENS, Alexis , PLANTE, Jean-sebastien , LAROSE, Pascal
Abstract: A system for controlling a tension of a tether between an object and a load tethered to the object comprises magnetorheological (MR) fluid actuator unit(s) including at least one torque source and at least one MR fluid clutch apparatus coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output of the MR fluid actuator unit. A tensioning member is connected to the output so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action when being pulled by the output member. Sensor(s) provide information indicative of a relation between the object and the load tethered to the object. A controller controls the at least one MR fluid clutch apparatus in exerting the pulling action based on said information.
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公开(公告)号：WO2017185176A1
公开(公告)日：2017-11-02
申请号：PCT/CA2017/050506
申请日：2017-04-25
Applicant: EXONETIK INC.
Inventor： DENNINGER, Marc , JULIÓ, Guifré , PLANTE, Jean-sebastien , LAROSE, Pascal
Abstract: A control system is provided for controlling movements of an end effector connected to a clutch output of at least one magnetorheological (MR) fluid clutch apparatus. A clutch driver is configured to drive the at least one MR fluid clutch apparatus between a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatus varies, and a lock mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold, the clutch output transmitting movement to the end effector. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to the clutch input. A mode selector module is configured to receive signals representative of at least one movement parameter of the end effector, the mode selector module selecting a mode between the controlled slippage mode and the lock mode of the clutch driver based on the signals, and switching the selected mode based on the signals. A movement controller controls the clutch driver and the motor driver to displace the end effector based on at least one of the selected mode and on commanded movements of the end effector for the end effector to achieve the commanded movements. A method for controlling movements of an end effector connected to the MR fluid clutch apparatus is also provided.
Abstract translation: 控制系统被提供用于控制连接到至少一个磁流变（MR）流体离合器装置的离合器输出端的末端执行器的运动。 离合器驱动器构造成在至少一个MR流体离合器装置在其中离合器输入与MR流体离合器装置的离合器输出之间的滑动变化的受控滑动模式和锁定模式之间驱动所述至少一个MR流体离合器装置， 离合器输入和离合器输出保持在给定阈值以下，离合器输出将运动传递到末端执行器。 电机驱动器被配置为控制至少一个电机的电机输出，电机输出耦合到离合器输入。 模式选择器模块被配置为接收表示末端执行器的至少一个运动参数的信号，模式选择器模块基于信号选择离合器驱动器的受控滑动模式和锁定模式之间的模式，并且切换所选择的 基于信号的模式。 移动控制器控制离合器驱动器和马达驱动器基于所选择的模式和末端执行器的末端执行器的命令运动中的至少一个来移动末端执行器以实现命令的运动。 还提供了用于控制连接到MR流体离合器装置的末端执行器的运动的方法。
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公开(公告)号：EP3449146A1
公开(公告)日：2019-03-06
申请号：EP17788457.4
申请日：2017-04-25
Applicant: Exonetik Inc.
Inventor： DENNINGER, Marc , JULIÓ, Guifré , PLANTE, Jean-sebastien , LAROSE, Pascal
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公开(公告)号：EP3676210A1
公开(公告)日：2020-07-08
申请号：EP18850727.1
申请日：2018-08-29
Applicant: Societé de Commercialisation des Produits de la Recherche Appliquée SOCPRA Sciences et Génie S.E.C , Exonetik Inc.
Inventor： RANCOURT, David , LUSSIER DESBIENS, Alexis , PLANTE, Jean-sebastien , LAROSE, Pascal
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