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    FORCE AND POSITION CONTROLLED MANIPULATOR
    3.
    发明申请
    FORCE AND POSITION CONTROLLED MANIPULATOR 审中-公开
    力和位置控制操纵器

    公开(公告)号：WO9507793A3

    公开(公告)日：1995-11-30

    申请号：PCT/US9410091

    申请日：1994-09-09

    Applicant: UNITED TECHNOLOGIES CORP

    Inventor： ENGEL THOMAS W ,  ROBERTS RANDALL ,  DOLD ROBERT H ,  KETTLE JOHN L ,  MEZEI STEVE J

    IPC: B23Q1/36 ,  B23Q1/50 ,  B23Q15/007 ,  B23Q1/16 ,  B23Q1/14 ,  B23Q15/00

    CPC classification number: B23Q15/007 ,  B23Q1/36 ,  B23Q1/50

    Abstract: A manipulator (26) for controlling force and position of a retained device (22) is disclosed. Various construction details are disclosed that provide a manipulator (26) which is back driveable and which provides planar control of both force and position of the device relative to an object being worked on. In a particular embodiment, the manipulator (26) includes an actuator assembly (46) having two pairs of voice coils (58, 59), a housing (56) gimbaled to a frame (45) and engaged with the actuator assembly (46) through a universal joint (54), and a tool (22) retained in a distal end of the housing (56). Excitation of the voice coils (58, 59) produces a planar force on the joint (54). Movement of the joint (54) results in pivoting of the housing (56) about the gimbal (76) and spherical motion of the device. In a further embodiment, the manipulator (26) includes a body (57) gimbaled to the housing (56) and a plurality of force transducers (82) disposed about the body (57) and between the body (57) and housing (56). Forces on the device may be measured by the response of the transducers (82). In another embodiment, the manipulator (26) includes a plurality of position sensors (114, 116) disposed about the gimbal (76) and between the housing (56) and frame (45). The plurality of position sensors (114, 116) respond to pivoting motion of the housing (56) such that the position of the device (22) may be monitored.

    8.
    发明专利
    未知

    公开(公告)号：DE60111095T2

    公开(公告)日：2005-10-27

    申请号：DE60111095

    申请日：2001-03-02

    Applicant: UNITED TECHNOLOGIES CORP HARTF

    Inventor： REY NANCY M ,  RUKUS ROBERT M ,  MILLER ROBIN MIHEKUN ,  KETTLE JOHN L ,  TILLMAN THOMAS G

    IPC: G12B1/00 ,  C22F1/00 ,  F03G7/06

    Abstract: A self contained shape memory alloy (SMA) mechanism (50) is presented comprising a first anchor (52) and a second anchor (54) with a SMA actuator (56) and a return member (58) disposed therebetween. The SMA actuator (56) is a SMA bundle formed of single wires. The return member (58) is a linear spring surrounding the SMA actuator (56). Each mechanism (50) also includes a heating means. In operation, with the SMA actuator (56) in a martensitic state, the spring (58) of the mechanism (50) stretches the SMA actuator (56). When the SMA actuator (56) is heated to achieve its austenitic state, the force of the SMA actuator overcomes the force of the spring and pulls the anchors (52,54) thereby actuating at least one of the anchors (52,54). One major benefit of the mechanisms (50) is the ability to repeatably generate high active force in a compact package.

    9.
    发明专利
    未知

    公开(公告)号：DE60111095D1

    公开(公告)日：2005-07-07

    申请号：DE60111095

    申请日：2001-03-02

    Applicant: UNITED TECHNOLOGIES CORP HARTF

    Inventor： REY NANCY M ,  RUKUS ROBERT M ,  MILLER ROBIN MIHEKUN ,  KETTLE JOHN L ,  TILLMAN THOMAS G

    IPC: G12B1/00 ,  C22F1/00 ,  F03G7/06

    Abstract: A self contained shape memory alloy (SMA) mechanism (50) is presented comprising a first anchor (52) and a second anchor (54) with a SMA actuator (56) and a return member (58) disposed therebetween. The SMA actuator (56) is a SMA bundle formed of single wires. The return member (58) is a linear spring surrounding the SMA actuator (56). Each mechanism (50) also includes a heating means. In operation, with the SMA actuator (56) in a martensitic state, the spring (58) of the mechanism (50) stretches the SMA actuator (56). When the SMA actuator (56) is heated to achieve its austenitic state, the force of the SMA actuator overcomes the force of the spring and pulls the anchors (52,54) thereby actuating at least one of the anchors (52,54). One major benefit of the mechanisms (50) is the ability to repeatably generate high active force in a compact package.

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