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    Actuation systems and methods
    351.
    发明授权
    Actuation systems and methods 有权

    公开(公告)号：US09879767B2

    公开(公告)日：2018-01-30

    申请号：US14903126

    申请日：2014-07-10

    Applicant: Worcester Polytechnic Institute

    Inventor： Marko B. Popovic ,  Christopher J. Berthelette ,  Matthew Dipinto ,  James D. Sareault ,  Thane R. Hunt

    IPC: F16H33/02 ,  F03G1/02 ,  F03G3/08

    CPC classification number: F16H33/02 ,  F03G1/02 ,  F03G3/08

    Abstract: Actuation systems and methods are disclosed. Such systems may comprise a motor having a drive shaft, one or more modules coupled to the drive shaft, each module comprising one or more energy storage elements and one or more actuating members connecting the one or more energy storage elements to one or more degrees of freedom, which are configured to actuate in response to a discharge of energy from the one or more energy storage element, and a plurality of clutches associated with each module to couple the energy storage element of the module to the drive shaft of the motor and to control an energy state of the energy storage element independent of energy storage elements of other modules.

    Soft-body deformation and force sensing
    352.
    发明授权
    Soft-body deformation and force sensing 有权

    公开(公告)号：US09857245B2

    公开(公告)日：2018-01-02

    申请号：US15064872

    申请日：2016-03-09

    Applicant: Worcester Polytechnic Institute

    Inventor： Cagdas D. Onal ,  Selim Ozel

    IPC: G01L1/12 ,  B25J13/08 ,  B25J15/12 ,  G01L5/22

    CPC classification number: G01L1/122 ,  B25J13/088 ,  B25J15/12 ,  G01L5/226 ,  Y10S901/46

    Abstract: 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.

    Transport container flame arrestor
    353.
    发明授权
    Transport container flame arrestor 有权

    公开(公告)号：US09707422B2

    公开(公告)日：2017-07-18

    申请号：US14638229

    申请日：2015-03-04

    Applicant: Worcester Polytechnic Institute

    Inventor： Brian E. Elias ,  Robert G. Zalosh ,  Ali S. Rangwala

    IPC: A62C3/07 ,  A62C3/06 ,  A62C2/06 ,  B60K15/04 ,  A62C4/00

    CPC classification number: A62C3/065 ,  A62C4/00

    Abstract: A volatile liquid storage container has combustion resistance properties from a flexible sock or tube constructed of fire resistant fibers coupled to a neck of the storage container to prevent flame flash-back into the storage container. The storage container defines an enclosed volume having an orifice in the container material leading to a neck for pouring and filling the enclosed volume for exchanging the contents therein. The tube is elongated and surrounds a circumference of the orifice for engaging any ignition source entering through the orifice. The flexible nature of the tube or sock allows it to extend to an opposed interior surface of the enclosed volume, and ensures that the tube or sock is immersed in the fluid for encircling any ignition path to the volatile liquid without interfering with an ability to pour or refill the container.

    Cable Driven Manipulator for Additive Manufacturing
    354.
    发明申请
    Cable Driven Manipulator for Additive Manufacturing 审中-公开

    公开(公告)号：US20170095973A1

    公开(公告)日：2017-04-06

    申请号：US15286942

    申请日：2016-10-06

    Applicant: Worcester Polytechnic Institute

    Inventor： Sarah M. Chamberlain ,  Richard T. Eberheim

    IPC: B29C67/00 ,  B33Y50/02 ,  B33Y30/00 ,  B28B1/00 ,  B33Y10/00

    CPC classification number: B33Y10/00 ,  B28B1/001 ,  B29C64/106 ,  B29C64/20 ,  B29C64/386 ,  B29K2105/12 ,  B33Y30/00 ,  B33Y50/02

    Abstract: A parallel robotic manipulator for generating 3 dimensional structures includes a set of redeployable towers adapted to transport one or more cables, and at least one drive source operable to draw or traverse the cables across a rendering area. An end-effector suspended from the cables is operable to deposit extrudate onto the rendering area, and a nozzle in the end-effector is configured to selectively deposit the extrudate at predefined locations based on the position of the cable. A control unit has control logic for directing the drive source, in which the cables are responsive to the drive source for disposing the end-effector either along the cables or drawn and extended from the towers. An extrudate reservoir and a pump in fluidic communication with the reservoir allows the pump to force the extrudate for deposition at the predefined location responsive to the control logic.

    ELECTROHYDRODYNAMIC (EHD) REFRIGERANT PUMP
    355.
    发明申请
    ELECTROHYDRODYNAMIC (EHD) REFRIGERANT PUMP 审中-公开

    公开(公告)号：US20170089611A1

    公开(公告)日：2017-03-30

    申请号：US15279852

    申请日：2016-09-29

    Applicant: WORCESTER POLYTECHNIC INSTITUTE

    Inventor： Jamal S. Yagoobi

    IPC: F25B1/10 ,  H02N11/00 ,  F25B31/00

    CPC classification number: F25B1/10 ,  F04B17/00 ,  F04B19/006 ,  F25B1/00 ,  F25B31/00 ,  F28F2250/08 ,  H02K44/02 ,  H02K44/04 ,  H02N11/006

    Abstract: An electrohydrodynamic (EHD) pump increases refrigerant flow rate and the resulting pressure in a vapor compression based cooling system for permitting reduced compressor sizes and power demands. The EHD pump disposes electrodes in a liquid path of the refrigerant flow, and increases fluid flow and resulting pressure by an induced liquid flow between a pair of asymmetric electrodes. Voltage applied to these electrodes results in a conduction pumping mechanism associated with heterocharge layers in the vicinity of the electrodes based on disassociation of a neutral electrolyte species in the refrigerant fluid and recombination of the generated ions. The induced flow draws the liquid due to a net fluid flow toward one of the electrodes based on the asymmetry of the electrode pair. Electrodes are disposed on an inner surface of a refrigerant vessel, in communication with an annular liquid film that forms around the inner circumference in two-phase fluid systems.

    SELF-HEALING COATING FOR REINFORCEMENT STEEL
    358.
    发明申请
    SELF-HEALING COATING FOR REINFORCEMENT STEEL 审中-公开
    用于加固钢的自助涂层

    公开(公告)号：US20170044379A1

    公开(公告)日：2017-02-16

    申请号：US15233029

    申请日：2016-08-10

    Applicant: Worcester Polytechnic Institute

    Inventor： Amy M. Peterson ,  Aaron R. Sakulich ,  Yixi Chen ,  Chris T. Xia

    IPC: C09D5/08 ,  E04C5/01 ,  C09D7/12

    CPC classification number: C09D5/086 ,  C09D5/00 ,  C09D7/63 ,  E04C5/015

    Abstract: A self-healing coating for reinforcing steel embedded in concrete includes emulsion derived microcapsules having a healing agent and adapted for dispersion through a liquid coating medium for application on a structural steel surface to form a coating for corrosion prevention. The microcapsule particles are dispersed in the coating medium for being disposed on the surface and are configured to rupture and release the healing agent onto the surface in response to a compromise of the coating, such as being dropped or dragged on a construction site. The self-healing agent, such as Tung oil, complements the protective properties of the coating medium by flowing into regions where the coating medium has been scraped off, flaked off, or otherwise undergone compromise. Alternatively, post-installation corrosive influences, such as rust and oxidation, can also cause rupture of the particles to abate corrosion in the concrete-encased steel members.

    Abstract translation: 用于加固混凝土中的钢筋的自修复涂层包括具有愈合剂的乳液衍生的微胶囊，并适于通过液体涂布介质分散在应用于结构钢表面上以形成用于防腐蚀的涂层。 微胶囊颗粒分散在涂覆介质中以便布置在表面上并且被配置为响应于涂层的损害而破坏并释放愈合剂到表面上，例如在施工现场上掉落或拖动。 自愈剂如桐油，通过流入涂层介质被刮去，剥落或以其他方式受损的区域，补充了涂层介质的保护性能。 或者，安装后的腐蚀性影响，例如锈蚀和氧化，也可能导致颗粒破裂，以减少混凝土包裹的钢构件的腐蚀。

    DESIGN AND FABRICATION OF ROBOTIC MECHANISMS AND SYSTEMS FROM PLANAR SUBSTRATES
    360.
    发明申请
    DESIGN AND FABRICATION OF ROBOTIC MECHANISMS AND SYSTEMS FROM PLANAR SUBSTRATES 审中-公开
    来自平面基底的机器人机构和系统的设计和制造

    公开(公告)号：US20160318194A1

    公开(公告)日：2016-11-03

    申请号：US15095366

    申请日：2016-04-11

    Applicant: Worcester Polytechnic Institute

    Inventor： Cagdas D. Onal ,  Fuchen Chen ,  Weijia Tao

    IPC: B25J19/00 ,  B62D57/032

    Abstract: 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.

    Abstract translation: 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。

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