Gm Global Technolgoy Operations, Inc.

Delphi Technologies, Inc.

Universitè Laval

Robin Stevenson

Pei-chung Wang

Thaddeus Schroeder

Alan L Browne

Nicolas Lauzier

Nancy L Johnson

Nilesh D Mankame

Dalong Gao

Roland J Menassa

Ivan G Sears

Paul W Alexander

Xiujie Gao

Christopher Paul Henry

Andrew Leslie Bartos

Richard J Skurkis

Robert J Scheuerman

Charles W Wampler, Ii

Douglas Martin Linn

Clark Edward McCall

Clement M Gosselin

Pei-Chung Wang

Devadatta Madhukar Kulkarni

Daniel B Hayden

Martin Grenier

Jeff Dellach

Mike Vainstein

Teresa U Holiness

Chandra S Namuduri

Paul Edward Krajewski

Adrian B Chernoff

Sanjeev Manubhai Naik

Jeffrey L Konchan

John C Ulicny

Michael J Karagoulis

William R Rodgers

Richard J Lange

Jan Henning Aase

Nicholas William Pinto

Jianying Shi

John R Czoykowski

James Franklin Hengel

Jessica A Schroeder

Peter C Sun

Kenneth A Strom

Senthil N Karuppaswamy

Chi-Hung Shen

Peter Maxwell Sarosi

Hai-Lung Tsai

John Andrew Shaw

Neal Parsons

Jason R Spenny

Ugur Ersoy

James Bloomsburgh

Robert R Inman

Benjamin Reedlunn

Ravindra Brammajyosula

The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.

Force limiting device and method

An assembly for and method of reinforcing interconnection between an active material wire actuator, such as a shape memory alloy wire, and structure, includes the generation and engagement of an enlarged formation affixed to or integrally formed with the actuator.

Active material wire actuators having reinforced structural connectors

A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.

Human-robot interactive system having a human stiffness estimation control algorithm

A cable adapted for use as an actuator, adaptive structural member, or damper, includes a plurality of longitudinally inter-engaged and cooperatively functioning shape memory alloy wires.

Shape memory alloy cables

A method of joining a multiple member work-piece includes stacking the members of the work-piece on a die such that a first of the members rests on the die. Next, a rivet is driven into the second member until the rivet penetrates the members and deforms. The rivet is then welded to the first member to strengthen the riveted joint. Different mechanisms may be used to accomplish the welding. For example, a laser beam may be directed through a passage in the first die to target the area of the riveted joint to be welded. Alternatively, the die set, rivet, and first member may be arranged to form an electrical circuit that welds the joint via resistance heating. An assembly of a multiple member work-piece and a rivet made according to the method is also provided.

Method of joining with self-piercing rivet and assembly

A pallet includes a platform and a plurality of support assemblies located at multiple positions on the platform. One support assembly is associated with each location of the component to be supported. Each support assembly has a linkage assembly to support and enable movement of a support element. The support assemblies also each include multiple bases secured to the platform, to position the support element in a desired location for each version of a component. An alignment mechanism on each base allows for rotational alignment of the support element relative to the pallet. An error proofing mechanism compares the selected location of the support element for each of the plurality of support assemblies and provides confirmation and correction information as required.

Reconfigurable pallet with error proofing

A method for error-proofing clamping operation performed with a reconfigurable clamp having a body, a locking member, a plurality of moveable pins for contacting an object, and a plunger is provided. The method includes applying a force to the plunger and sensing whether the plunger achieves a fully-depressed position, and releasing the force to the plunger and sensing whether the plunger achieves a fully-extended position. The method may additionally include applying the force to the plunger, contacting the object with the plurality of pins and sensing whether the clamp body achieves a predetermined position relative to a clamping device.

Method for error-proofing a reconfigurable clamp

A pallet includes a platform and a plurality of support assemblies located at multiple positions on the platform. One support assembly is associated with each location of the component to be supported. Each support assembly has a linkage assembly to support and enable movement of a support element. The support assemblies also each include multiple bases secured to the platform, to position the support element in a desired location for each version of a component. An alignment mechanism on each base allows for rotational alignment of the support element relative to the pallet.

Reconfigurable pallet using pins and hollow supports

Remotely engageable and releasable suction cups include a pliable body and an active material in operative communication with the pliable body and configured to create and/or eliminate a partial vacuum through the activation of stiffness or geometry changes in the active material. Suitable active materials include shape memory materials such as shape memory alloys, ferromagnetic shape memory alloys, and shape memory polymers (SMP). A second class of active materials include materials that exhibit a change in at least one attribute when subjected to an applied field but revert back to their original state upon removal of the applied field. Active materials in this category include piezoelectric materials, electroactive polymers (EAP), magnetorheological polymers, and the like.

Active material based suction cups

A pallet includes a platform and a plurality of support assemblies located at multiple positions on the platform. One support assembly is associated with each location of the component to be supported. Each support assembly has several linkage assemblies to position a support element in a desired location for each version of a component. The linkage assemblies each include multiple bases secured to the platform, to position the support element in the desired location. Securing a locking mechanism on the linkage assemblies prevents movement of the support element when in the desired position. To configure the pallet for another version of the component the locking mechanisms are released, the support elements are moved to another base and the locking mechanisms are secured again for each of the support assemblies.

Reconfigurable pallet

A rivet configured to provide a strengthened rivet joint capable of acting as a load-bearing joint, such as in a vehicle, is provided. A method of joining a multiple member work-piece utilizing the rivet is also provided. The rivet includes a head portion and an annular body portion extending from the head portion. The body portion has an open end opposite the head portion. The head portion and the annular body portion define an interior cavity that opens at the open end. The annular body portion has an inner surface at the interior cavity and an outer surface opposite the interior cavity. The body portion has passages extending through the body portion from the inner surface to the outer surface, and grooves running along the outer surface intersecting with the passages.

Self-piercing rivet and method of joining with bonded riveted joints

A self-presenting device includes, a member in physical communication with a vehicle surface, wherein the member is configured to have a first form and a second form, wherein the first form is configured to store the member and the second form is configured to present the member, and an active material in operable communication with the member, wherein the active material is configured to undergo a change in at least one property upon receipt of an activation signal, wherein the change in at least one property is effective to transition the member from the first form to the second form.

Active material enabled self-presenting devices

Reconfigurable containers which may adopt two stable configurations are described. In the first configuration, the container is suitable for the storing and transport of goods. When in a second, collapsed configuration, the container occupies a lesser volume than the first configuration and thus requires less shipping space. This is accomplished through the use of at least one deformable active material member that is preferably a shape memory polymer and, optionally, releasable fasteners.

Reconfigurable container and methods of fabrication and use thereof

A pallet includes a platform and a plurality of support assemblies located at multiple positions on the platform. One support assembly is associated with each location of the component to be supported. Each support assembly has a linkage assembly to support and enable movement of a support element. The support assemblies also each include multiple bases secured to the platform, to position the support element in a desired location for each version of a component. A locking mechanism on each support element allows for selectively preventing vertical movement of the support element relative to the pallet.

Locking mechanism for reconfigurable pallets

Growing community of inventors

Bloomfield, MI, United States of America

Robin Stevenson