Abstract: One or more methods, apparatuses, and systems to perform inverse kinematics to move an end effector of a kinematic chain from a starting location toward a target location and to move mid-joints in response thereto according to a subspace of a mid-joint, wherein the subspace is determined according to objects determined around adjacent joints of the mid-joint. The kinematic chain may comprise branches and the methods, apparatuses, and systems may determine an execution order of the branches.

Abstract: A sensor is used in measuring the torque applied to a slew drive. The slew drive includes a worm gear and a worm wheel and the sensor is coupled with a securing device that is used to secure the worm gear to the slew drive housing. The sensor generates a signal which is indicative of the torque on the worm wheel. The worm gear is secured to the slew drive housing by a first bearing and a second bearing. Two end plates and eight bolts are also used to further secure the worm gear and the bearings to the slew drive housing. By tightening the bolts, a compressive force is applied on the worm gear through the bearings. The applied torque on the worm wheel causes an axial force on the worm gear. The axial force is transmitted through the worm gear, the bearings, the end plates, and the bolts. One or more sensors can be embedded in one or more of the end plates or the bolts to measure the strain, in the end plates or the bolts, due to the axial force.

Abstract: A distributed torque, single axis solar tracking system includes a plurality of spaced apart mounting posts with selected posts having an electrically controlled actuator mounted thereon. A torque structure extends between the actuators to distribute rotational torque on the torque structure. A plurality of solar panels is connected to the torque structure. Electrical apparatus is coupled to each actuator and designed to be coupled to a power source so that when the electrical apparatus is coupled to the power source, the plurality of actuators is energized to rotate simultaneously a desired amount. Whereby the plurality of solar panels is rotated the desired amount as the plurality of actuators rotates.

Abstract: A worm comprises enveloping worm teeth having relieved ends. The worm is machined in three steps comprising machining a threaded section, machining a first end section, and machining a second end section. The threaded section is machined utilizing a rack-form tool having a rack-form thickness. The first end section and the second end section are machined utilizing a larger rack-form thickness, thereby, providing relieved ends. The teeth of the worm having such relieved ends mesh with the teeth of a mating gear at full depth throughout preventing partial teeth engagement.

Abstract: A single axis driving system includes a housing with a central portion defining a cavity and a pair of parallel spaced apart flanges formed as an integral part. Coaxial openings are formed through the flanges to define a mounting structure for an axle rotatably mounted in the coaxial openings. An opening is formed between the flanges in the surface of the central portion extending into the cavity. A gear plate is affixed to the axle and positioned to extend through the opening into the cavity for limited rotation with the axle. The gear plate has an arcuate set of gear teeth positioned along a periphery thereof. A driving gear is rotatably mounted in the housing so as to mesh with the arcuate set of gear teeth and a drive motor is mounted on the housing and attached to the driving gear for rotation of the driving gear.

Abstract: A rack and pinion damper provides controllable rotary motion of a pinion by actuating a rack inside a fluid disposed within a housing. The rack includes one or two cylindrical heads which further include flow-control mechanisms. Two plugs maybe threaded into the ends of the rack sections of the housing to limit a maximum clockwise rotation and a maximum counterclockwise rotation of the pinion. The pinion maybe coupled with an external unit, such as a torque tube, to control its rotational motion.

Abstract: A slew drive comprises a worm gear which is integrated with a reducer assembly. One end of the worm gear operates as a carrier which engages a plurality of planetary gears which are part of the reducer assembly. The carrier may be a separate component that is coupled with the worm gear. Alternatively, one end of the worm gear can be machined to operate as the carrier. The carrier engages a plurality of planetary gears via a plurality of holes.

Abstract: A sensor is used in measuring the torque applied to a slew drive. The slew drive includes a worm gear and a worm wheel and the sensor is coupled with a securing device that is used to secure the worm gear to the slew drive housing. The sensor generates a signal which is indicative of the torque on the worm wheel. The worm gear is secured to the slew drive housing by a first bearing and a second bearing. Two end plates and eight bolts are also used to further secure the worm gear and the bearings to the slew drive housing. By tightening the bolts, a compressive force is applied on the worm gear through the bearings. The applied torque on the worm wheel causes an axial force on the worm gear. The axial force is transmitted through the worm gear, the bearings, the end plates, and the bolts. One or more sensors can be embedded in one or more of the end plates or the bolts to measure the strain, in the end plates or the bolts, due to the axial force.

Abstract: A distributed torque, single axis solar tracking system includes a plurality of spaced apart mounting posts with selected posts having an electrically controlled actuator mounted thereon. A torque structure extends between the actuators to distribute rotational torque on the torque structure. A plurality of solar panels is connected to the torque structure. Electrical apparatus is coupled to each actuator and designed to be coupled to a power source so that when the electrical apparatus is coupled to the power source, the plurality of actuators is energized to rotate simultaneously a desired amount. Whereby the plurality of solar panels is rotated the desired amount as the plurality of actuators rotates.

Abstract: A slew drive includes a housing, a worm shaft having a worm thread carried within the housing for rotational movement, and a torque tube having an outer diameter and a central socket. The torque tube is carried by the housing for rotational movement perpendicularly to the worm shaft and worm thread. A ring gear section having teeth, is carried by the torque tube so that the teeth extend beyond the outer diameter of the torque tube and engage the worm threads. Rotation of the worm shaft rotates the worm threads engaging the teeth of the ring gear section, thereby rotating the ring gear section which rotates the torque tube relative the housing.

Abstract: A gear assembly diagnostic system includes an electric motor attached to a gear assembly to be diagnosed, a motor controller coupled to the electric motor to control electric current applied to the electric motor, a test controller coupled to the motor controller to provide commands to the motor controller, and electrical current determining apparatus coupled to provide a measurement of current flow through the electric motor. A programmable data acquisition device is coupled to the electrical current determining apparatus and is programmable to determine current flow through the electrical motor at a predetermined frequency. Data storage is coupled to the data acquisition device for receiving and storing current flow determinations from the data acquisition device and a computer is coupled to, and may include, the data storage. The computer includes software designed to calculate one or more characteristics of the gear assembly to be diagnosed from the current flow determinations.

Abstract: A worm comprises enveloping worm teeth having relieved ends. The worm is machined in three steps comprising machining a threaded section, machining a first end section, and machining a second end section. The threaded section is machined utilizing a rack-form tool having a rack-form thickness. The first end section and the second end section are machined utilizing a larger rack-form thickness, thereby, providing relieved ends. The teeth of the worm having such relieved ends mesh with the teeth of a mating gear at full depth throughout preventing partial teeth engagement.

Abstract: A slew drive comprises a slew drive housing which includes a first distal housing section and a second distal housing section. The first distal housing section includes a threaded section, operative to receive a threaded plug and the second distal housing section includes a groove operative to receive a retaining ring. A worm gear is secured to the slew drive housing by a first tapered roller bearing and a second tapered roller bearing. The worm gear comprises a central threaded section, a first distal shaft section having a first shoulder, and a second distal shaft section having a second shoulder. The central threaded section engages the teeth of a worm wheel, the first tapered roller bearing is seated on the first distal shaft section, abutting the first shoulder and the plug, and the second tapered roller bearing is seated on the second distal shaft section, abutting the second shoulder and the retaining ring.

Abstract: A slew drive comprises a worm gear which is integrated with a reducer assembly. One end of the worm gear operates as a carrier which engages a plurality of planetary gears which are part of the reducer assembly. The carrier may be a separate component that is coupled with the worm gear. Alternatively, one end of the worm gear can be machined to operate as the carrier. The carrier engages a plurality of planetary gears via a plurality of holes.

Abstract: A slew drive includes a housing, a worm shaft having a worm thread carried within the housing for rotational movement and a torque tube having an outer surface. The torque tube is carried by the housing for rotational movement perpendicularly to the worm shaft and worm thread. A ring gear section having teeth is carried by the torque tube with the teeth engaging the worm threads. An inner raceway is fabricated as an integral part of the torque tube. An outer raceway is fabricated as an integral part of the housing, the outer raceway radially overlying the inner raceway, and bearing elements captured between the inner raceway and the outer raceway.

Abstract: A slew drive includes a housing, a worm shaft having a worm thread carried within the housing for rotational movement and a torque tube having an outer surface. The torque tube is carried by the housing for rotational movement perpendicularly to the worm shaft and worm thread. A ring gear section having teeth is carried by the torque tube with the teeth engaging the worm threads. An inner raceway is fabricated as an integral part of the torque tube. An outer raceway is fabricated as an integral part of the housing, the outer raceway radially overlying the inner raceway, and bearing elements captured between the inner raceway and the outer raceway.