The present invention relates to a line gear mechanism with variable-angle transmission, which consists of a line gear pair having intersecting shafts which includes a driving line gear and a driven line gear. The driving line gear and the driven line gear are each composed of a wheel body and a line tooth. Contact curves of the driving line gear and the driven line gear mesh according to a pair of space conjugate curves. One or more line teeth are provided on the driving line gear. The line tooth on the driven line gear is a line tooth that has a property of variable-angle transmission. During transmission, the mechanism may adjust a transmission angle of the line gear pair having the intersecting shafts, thus causing meshing points to form on different contact curves while a transmission ratio remains unchanged and the transmission is stable.

The present invention relates to a line gear mechanism with variable-angle transmission, which consists of a line gear pair having intersecting shafts which includes a driving line gear and a driven line gear. The driving line gear and the driven line gear are each composed of a wheel body and a line tooth. Contact curves of the driving line gear and the driven line gear mesh according to a pair of space conjugate curves. One or more line teeth are provided on the driving line gear. The line tooth on the driven line gear is a line tooth that has a property of variable-angle transmission. During transmission, the mechanism may adjust a transmission angle of the line gear pair having the intersecting shafts, thus causing meshing points to form on different contact curves while a transmission ratio remains unchanged and the transmission is stable.

The present invention relates to a line gear mechanism with variable-angle transmission, which consists of a line gear pair having intersecting shafts which includes a driving line gear and a driven line gear. The driving line gear and the driven line gear are each composed of a wheel body and a line tooth. Contact curves of the driving line gear and the driven line gear mesh according to a pair of space conjugate curves. One or more line teeth are provided on the driving line gear. The line tooth on the driven line gear is a line tooth that has a property of variable-angle transmission. During transmission, the mechanism may adjust a transmission angle of the line gear pair having the intersecting shafts, thus causing meshing points to form on different contact curves while a transmission ratio remains unchanged and the transmission is stable.

The present invention relates to a line gear mechanism with variable-angle transmission, which consists of a line gear pair having intersecting shafts which includes a driving line gear and a driven line gear. The driving line gear and the driven line gear are each composed of a wheel body and a line tooth. Contact curves of the driving line gear and the driven line gear mesh according to a pair of space conjugate curves. One or more line teeth are provided on the driving line gear. The line tooth on the driven line gear is a line tooth that has a property of variable-angle transmission. During transmission, the mechanism may adjust a transmission angle of the line gear pair having the intersecting shafts, thus causing meshing points to form on different contact curves while a transmission ratio remains unchanged and the transmission is stable.

The present invention relates to a concave-convex arc line gear mechanism for parallel shaft transmission, which comprises a driving line gear and a driven line gear, axes of the driving line gear and the driven line gear being parallel to each other to form a transmission pair.

The present invention relates to a concave-convex arc line gear mechanism for parallel shaft transmission, which comprises a driving line gear and a driven line gear, axes of the driving line gear and the driven line gear being parallel to each other to form a transmission pair.

An actuator control system includes a motorized joint having first and second members rotatable relative to one another. An actuator is coupled with the motorized joint and is configured to rotate the first member relative to the second member in response to an input including a voltage, a current, or any combination thereof. A controller is coupled with the actuator and is configured to control the input using a control algorithm. The control algorithm controls the input based upon a mathematical model of biological muscle actuation that models titin as a filament which winds around actin during muscle actuation. In implementations the mathematical model includes mathematical representations of a contractile element, a viscous damping element in parallel with the contractile element, and a spring in series with the contractile element through a pulley and simultaneously in parallel with the contractile element.

The present invention relates to a concave-convex arc line gear mechanism for parallel shaft transmission, which comprises a driving line gear and a driven line gear, axes of the driving line gear and the driven line gear being parallel to each other to form a transmission pair. The driving line gear is consisted of convex teeth and a driving wheel body, a surface of the convex tooth comprising a pair of convex arc-shaped tooth flanks and a tooth top surface The driven line gear is consisted of concave teeth and a driven wheel body, a surface of the concave tooth comprising a pair of concave arc-shaped tooth flanks and a tooth bottom surface A meshing track of the transmission pair during transmission is a space curve. One arc-shaped tooth flank of the driving line gear and one arc-shaped tooth flank of the driven line gear present a point contact of convex arc and concave arc at a meshing point. Tooth shapes of the driving line gear and the driven line gear are interchangeable, i.e., the driving line gear has concave teeth, while the driven line gear has convex teeth. The line gear mechanism of the present invention has high transmission ratio, high contact strength, high load-bearing capacity, wide range of application, and is easy to be machined, which is especially suitable for space-limited microminiature mechanical, micro mechanical and conventional mechanical applications.

A system having a position sensing algorithm for determining a position of an electro-mechanical actuator (EMA) stroke includes a first rotary component supported for rotation about a first axis, and a second rotary component supported for rotation about a second axis. A first rotary encoder may be configured to generate an output based on an angular position of the first rotary component, and a second rotary encoder may be configured to generate an output based on an angular position of the second rotary component. The first and second rotary components may define a ratio such that the first and second rotary encoders generate unique combinations of outputs for an entire stroke of an EMA. A decoder may be provided having a position sensing algorithm that determines a position of the EMA stroke based on the ratio between first and second rotary components and outputs from first and second encoders.

A system having a position sensing algorithm for determining a position of an electro-mechanical actuator (EMA) stroke includes a first rotary component supported for rotation about a first axis, and a second rotary component supported for rotation about a second axis. A first rotary encoder may be configured to generate an output based on an angular position of the first rotary component, and a second rotary encoder may be configured to generate an output based on an angular position of the second rotary component. The first and second rotary components may define a ratio such that the first and second rotary encoders generate unique combinations of outputs for an entire stroke of an EMA. A decoder may be provided having a position sensing algorithm that determines a position of the EMA stroke based on the ratio between first and second rotary components and outputs from first and second encoders.