公开(公告)号：WO2011142864A3

公开(公告)日：2012-05-10

申请号：PCT/US2011024479

申请日：2011-02-11

Applicant: HARVARD COLLEGE ,  SREETHARAN PRATHEEV ,  WOOD ROBERT

Inventor： SREETHARAN PRATHEEV ,  WOOD ROBERT

IPC: B64C39/02 ,  B64C33/02

CPC classification number: B64C33/02 ,  B64C33/00 ,  B64C39/028 ,  B64C2201/025 ,  Y10T74/18928 ,  Y10T74/18968

Abstract: 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.

Abstract translation: 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。

公开(公告)号：EP2673872A4

公开(公告)日：2017-07-26

申请号：EP12744586

申请日：2012-02-10

Applicant: HARVARD COLLEGE

Inventor： SREETHARAN PRATHEEV ,  WHITNEY JOHN ,  WOOD ROBERT

IPC: B64C39/02 ,  A63H27/00 ,  B64C33/02 ,  B81B7/02 ,  H01L41/25

CPC classification number: B32B37/0076 ,  A63H27/001 ,  B25J7/00 ,  B32B3/266 ,  B32B37/144 ,  B32B37/18 ,  B32B38/0004 ,  B32B38/0012 ,  B32B38/14 ,  B32B2038/0028 ,  B32B2307/20 ,  B32B2457/00 ,  B64C33/02 ,  B81B3/0097 ,  B81B7/02 ,  G02B26/0833 ,  H01L41/25 ,  Y10T156/1064 ,  Y10T428/24331

Abstract: A multi-layer, super-planar structure can be formed from distinctly patterned layers. The layers in the structure can include at least one rigid layer and at least one flexible layer; the rigid layer includes a plurality of rigid segments, and the flexible layer can extend between the rigid segments to serve as a joint. The layers are then stacked and bonded at selected locations to form a laminate structure with inter-layer bonds, and the laminate structure is flexed at the flexible layer between rigid segments to produce an expanded three-dimensional structure, wherein the layers are joined at the selected bonding locations and separated at other locations.

Abstract translation: 多层超平面结构可以由清晰图案化的层形成。 结构中的层可以包括至少一个刚性层和至少一个柔性层; 刚性层包括多个刚性段，并且柔性层可以在刚性段之间延伸以用作接头。 然后将这些层在选定的位置堆叠并粘合以形成具有层间粘合的层合结构，并且层合结构在刚性部分之间的柔性层处弯曲以产生扩展的三维结构，其中这些层在 选定的粘合位置并在其他位置分开。

公开(公告)号：WO2016060778A2

公开(公告)日：2016-04-21

申请号：PCT/US2015050366

申请日：2015-09-16

Applicant: HARVARD COLLEGE

Inventor： TEOH ZHI ERN ,  KARPELSON MICHAEL ,  WOOD ROBERT

IPC: F21V14/02

CPC classification number: G02B26/085 ,  B81B3/0051 ,  B81B2201/032 ,  B81B2201/047 ,  B81C1/00007 ,  F21V14/02 ,  G02B26/0858 ,  H01L41/0933 ,  H02K15/00 ,  H02K26/00 ,  H02K33/16 ,  H02K99/20

Abstract: A pop-up laminate structure includes rigid layers, at least one flexible layer, at least one optical component, and an actuator. At least one of the rigid layers defines gaps extending there through to form a plurality of rigid segments separated by the gaps in the rigid layer. The flexible layer is bonded to the rigid segments to form joints for folding. The optical component is mounted to a rigid layer and configured to generate, capture or alter a light beam. The actuator is mounted to at least one of the rigid layers and configured to displace at least one rigid segment that, in turn, displaces the optical component. At least some of the layers are bonded to adjacent layers only at selected locations forming islands of inter-layer bonds to allow expansion of the laminate into an expanded three-dimensional structure.

Abstract translation: 弹出叠层结构包括刚性层，至少一个柔性层，至少一个光学部件和致动器。 至少一个刚性层限定延伸穿过的间隙，以形成由刚性层中的间隙分开的多个刚性段。 柔性层粘合到刚性部分以形成用于折叠的接缝。 光学部件被安装到刚性层并被配置为产生，捕获或改变光束。 致动器被安装到至少一个刚性层并且被配置为移位至少一个刚性段，该刚性段继而移位光学部件。 至少一些层仅在形成层间结合岛的选定位置处结合到相邻层，以允许层合物膨胀成扩展的三维结构。