Engineering topics
Publications and source records attributed to Vranish, John M..
A gear bearing drive provides a compact mechanism that operates as an actuator providing torque and as a joint providing support. The drive includes a gear arrangement integrating an external rotor DC motor within a sun gear. Locking surfaces maintain the components of the drive in alignment and provide support for axial loads and moments. The gear bearing drive has a variety of applications, including as a joint in robotic arms and prosthetic limbs.
A partial gear bearing including an upper half, comprising peak partial teeth, and a lower, or bottom, half, comprising valley partial teeth. The upper half also has an integrated roller section between each of the peak partial teeth with a radius equal to the gear pitch radius of the radially outwardly extending peak partial teeth. Conversely, the lower half has an integrated roller section between each of the valley half teeth with a radius also equal to the gear pitch radius of the peak partial teeth. The valley partial teeth extend radially inwardly from its roller section. The peak and valley partial teeth are exactly out of phase with each other, as are the roller sections of the upper and lower halves. Essentially, the end roller bearing of the typical gear bearing has been integrated into the normal gear tooth pattern.
The invention relates to a driven ground electrical circuit. A driven ground is a current-measuring ground termination to an electrical circuit with the current measured as a vector with amplification. The driven ground module may include an electric potential source V.sub.S driving an electric current through an impedance (load Z) to a driven ground. Voltage from the source V.sub.S excites the minus terminal of an operational amplifier inside the driven ground which, in turn, may react by generating an equal and opposite voltage to drive the net potential to approximately zero (effectively ground). A driven ground may also be a means of passing information via the current passing through one grounded circuit to another electronic circuit as input. It may ground one circuit, amplify the information carried in its current and pass this information on as input to the next circuit.
A gearing system using modular gear bearing components. Each component is composed of a core, one or more modules attached to the core and two or more fastening modules rigidly attaching the modules to the core. The modules, which are attached to the core, may consist of gears, rollers or gear bearing components. The core orientation affects the orientation of the modules attached to the core. This is achieved via the keying arrangement of the core and the component modules that attach to the core. Such an arrangement will also facilitate the phase tuning of gear modules with respect to the core and other gear modules attached to the core.
A gear bearing having a first gear and a second gear, each having a plurality of teeth. Each gear operates on two non-parallel surfaces of the opposing gear teeth to perform both gear and bearing functions simultaneously. The gears are moving at substantially the same speed at their contact points. The gears may be roller gear bearings or phase-shifted gear bearings, and may be arranged in a planet/sun system or used as a transmission. One preferred embodiment discloses and describes an anti-backlash feature to counter ''dead zones'' in the gear bearing movement.
The present invention relates to a conformal gripping device. In an embodiment of the present invention a conformal gripper device may be disclosed comprising a frame that includes an array of movable pins. The device may also include a roller locking and unlocking system within the frame. The system may comprise a pair of locking rollers for each row of gripper pins to facilitate locking and unlocking the array of gripper pins on a column-by-column basis. The system may also include a striker element that may force the locking rollers to roll along an angled roll surface to facilitate unlocking of the array of pins on a column-by-column basis. The system may further include an electromagnetic actuator or solenoid and permanent magnets to facilitate movement of the striker element and the locking rollers.
An actuator for moving a load has a frame forming a race between two surfaces thereof, at least two elements joined together by at least one flexible member, the elements and the at least one flexible member being disposed between the two surfaces of the frame that forms a race, one of the elements further joined to the load by a portion of the at least one flexible member, wherein when an element comes into contact with a surface of the frame it will stick thereto absent a repelling force, and moving means disposed to selectively attract or repel a corresponding element towards or away from one or the other of the two surfaces of the frame that forms the race. The actuator effects movement of the load in a direction towards or away from the elements, by changing a position of at least one of the elements on a surface of the frame that forms the race.
Phase-oriented gear systems are differential planetary transmissions in which each planet gear has two sets of unequal numbers of teeth indexed at prescribed relative angles (phases). The figure illustrates an application of the phase-oriented gearing concept to a relatively simple speed-reducing differential planetary transmission that includes a sun gear, an idler gear, three identical planet gears, a ground internal ring gear, and an output internal ring gear. Typically, the ground internal ring gear and output internal ring gear have different numbers of teeth, giving rise to a progressive and periodic phase shift between the corresponding pairs of teeth engaged by each successive planet gear. To accommodate this phase shift, it is necessary to introduce a compensating phase shift between the ground-gear-engaging and output-gearengaging sections of each planet gear. This is done by individually orienting each planet gear
A thrust roller bearing system comprising an inner rotating member, an outer rotating member and multiple rollers coupling the inner rotating member with outer rotating member. The inner and outer rotating members include thrust lips to enable the rollers to act as thrust rollers. The rollers contact inner and outer rotating members at bearing contact points along a contact line. Consequently, the radial/tilt and thrust forces move synchronously and simultaneously to create a bearing action with no slipping.
A tool comprises a first handle and a second handle, each handle extending from a gripping end portion to a working end portion, the first handle having first screw threads disposed circumferentially about an inner portion of a first through-hole at the working end portion thereof, the second handle having second screw threads disposed circumferentially about an inner portion of a second through-hole at the working end portion thereof, the first and second respective through-holes being disposed concentrically about a common axis of the working end portions. First and second screw locks preferably are disposed concentrically with the first and second respective through-holes, the first screw lock having a plurality of locking/unlocking screw threads for engaging the first screw threads of the first handle, the second screw lock having a plurality of locking/unlocking screw threads for engaging the second screw threads of the second handle. A locking clutch drive, disposed concentrically with the first and second respective through-holes, engages the first screw lock and the second screw lock. The first handle and the second handle are selectively operable at their gripping end portions by a user using a single hand to activate the first and second screw locks to lock the locking clutch drive for either clockwise rotation about the common axis, or counter-clockwise rotation about the common axis, or to release the locking clutch drive so that the handles can be rotated together about the common axis either the clockwise or counter-clockwise direction without rotation of the locking clutch drive.
The term "virtual feel" denotes a type of capaciflector (an advanced capacitive proximity sensor) and a methodology for designing and using a sensor of this type to guide a robot in manipulating a tool (e.g., a wrench socket) into alignment with a mating fastener (e.g., a bolt head) or other electrically conductive object. A capaciflector includes at least one sensing electrode, excited with an alternating voltage, that puts out a signal indicative of the capacitance between that electrode and a proximal object.
A three-dimensional (3-D) interactive display and method of forming the same, includes a transparent capaciflector (TC) camera formed on a transparent shield layer on the screen surface. A first dielectric layer is formed on the shield layer. A first wire layer is formed on the first dielectric layer. A second dielectric layer is formed on the first wire layer. A second wire layer is formed on the second dielectric layer. Wires on the first wire layer and second wire layer are grouped into groups of parallel wires with a turnaround at one end of each group and a sensor pad at the opposite end. An operational amplifier is connected to each of the sensor pads and the shield pad biases the pads and receives a signal from connected sensor pads in response to intrusion of a probe. The signal is proportional to probe location with respect to the monitor screen.
A one-way bearing is provided having sprags and rolling bearings both disposed between an inner and an outer race. The sprags may comprise three-dimensional sprags for preventing rotation in a non-preferential direction. The roll- ing bearings may comprise thrust rollers for transmitting axial, tilt, and radial loads between the inner and outer races.
A gear bearing having a first gear and a second gear, each having a plurality of teeth. Each gear operates on two non-parallel surfaces of the opposing gear teeth to perform both gear and bearing functions simultaneously. The gears are moving at substantially the same speed at their contact points. The gears may be roller gear bearings or phase-shifted gear bearings, and may be arranged in a planet/sun system or used as a transmission.
A capacitive proximity sensing element, backed by a reflector driven at the same voltage as and in phase with the sensor, is used to reflect the field lines away from a grounded robot arm towards an intruding object, thus dramatically increasing the sensor's range and sensitivity.
A roller type sprag member consisting of three main elements, an outer roller half section, an inner roller half section, and an assembly-location pin. The sprag locks using roller locking techniques in a manner well known in the case of a three-dimensional (3-D) locking sprag. It unlocks, however, using a roll technique in which the inner and outer roller halves rotate in mutually opposite directions, one clockwise and the other counterclockwise. In the process of rotation, the roller is foreshortened between the distance across the sprag contact surfaces, whereupon it loses its ability to act as a locking sprag and releases.
A screw-released roller brake including an input drive assembly, an output drive assembly, a plurality of locking sprags, a mechanical tripper nut for unlocking the sprags, and a casing therefor. The sprags consist of three dimensional (3-D) sprag members having pairs of contact surface regions which engage respective pairs of contact surface regions included in angular grooves or slots formed in the casing and the output drive assembly. The sprags operate to lock the output drive assembly to the casing to prevent rotation thereof in an idle mode of operation. In a drive mode of operation, the tripper is either self actuated or motor driven and is translated linearly up and down against a spline and at the limit of its travel rotates the sprags which unlock while coupling the input drive assembly to the output drive assembly so as to impart a turning motion thereto in either a clockwise or counterclockwise direction.
A spin bearing assembly including, a pair of mutually opposing complementary bearing support members having mutually spaced apart bearing support surfaces which may be, for example, bearing races and a set of spin bearings located therebetween. Each spin bearing includes a pair of end faces, a central rotational axis passing through the end faces, a waist region substantially mid-way between the end faces and having a first thickness dimension, and discrete side surface regions located between the waist region and the end faces and having a second thickness dimension different from the first thickness dimension of the waist region and wherein the side surface regions further have respective curvilinear contact surfaces adapted to provide a plurality of bearing contact points on the bearing support members.