http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-105550466-B
Outgoing Links
| Predicate | Object |
|---|---|
| classificationCPCAdditional | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06F2111-04 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06F30-367 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06F30-17 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06F17-50 |
| filingDate | 2016-01-12-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2018-08-17-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2018-08-17-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-105550466-B |
| titleOfInvention | A kind of optimal spring gravity compensation method of force feedback equipment |
| abstract | A kind of optimal spring gravity compensation method of force feedback equipment, using simple spring gravity compensation way, spring is mounted on the line gear reduction mechanism driven wheel of force feedback equipment large arm and forearm, the tie point position of spring is fully considered, the influence of drift and stiffness coefficient to gravity compensation, establish the gravity compensation model of nonlinear restriction relationship, it introduces " stretching drift ratio ", and itself and tie point position are measured as an optimization, the average fitness function of torque error as an optimization, use improved simple single-particle optimizing algorithm iteration optimization, the large arm of force feedback equipment and small arm mechanism is enable to obtain optimal simple spring gravity compensation.Two springs are used only in the present invention, realize the gravity compensation to the big arm mechanism and small arm mechanism of force feedback equipment, and the design is simple, easily realize and reequip. |
| priorityDate | 2016-01-12-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID419576637 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID5993 |
Total number of triples: 14.