Abstract: A modular weaving machine includes a loom chassis and a plurality of modular warp units. The warp units are each configured for supporting a plurality of removable bobbins thereon, the bobbins being pre-loadable with a plurality of warp threads. The loom chassis is configured to receivably support the warp units thereon, so that the warp threads are disposed in parallel, spaced relation to one another, extending in a downstream direction. A plurality of shedding actuators are coupled to the loom chassis and configured to form a shed with warp threads of each of the warp units. A weft insertion module is configured to insert a weft thread through the shed.

Abstract: A bias-weaving machine is provided. In one embodiment, the bias-weaving machine includes a plurality of yarn carriers, each holding a yarn under tension that extends in a downstream direction towards a woven product. The yarn carriers are translatable in at least one direction other than the downstream direction. The apparatus further includes a plurality of reeds disposed to comb the yarns in a downstream direction. The reeds have a range of motion extending between positions upstream and downstream of the yarn carriers. Embodiment of this invention may advantageously be utilized to weave three-dimensional woven products, such as textile preforms for aerospace composites.

Abstract: A drive mechanism is provided for omnidirectional and holonomic motion control of a vehicle. The drive mechanism may be used in a wide variety of applications where omnidirectional vehicles are advantageous, such as forklifts, aircraft maintenance platforms, robotic systems, wheelchairs, and recreational vehicles. The drive mechanism includes at least one wheel assembly rotatably coupled to a vehicle chassis, the wheel assembly including at least two wheels coupled to a wheel assembly chassis. The drive mechanism further includes a wheel constraint module configured to control the orientation of the wheels and a power module configured to rotate the wheel assembly. Vehicle motion may be controlled by actuation of the wheel constraint and power modules.

Abstract: A drive mechanism is provided for omnidirectional and holonomic motion control of a vehicle. The drive mechanism may be used in a wide variety of applications where omnidirectional vehicles are advantageous, such as forklifts, aircraft maintenance platforms, robotic systems, wheelchairs, and recreational vehicles. The drive mechanism includes at least one wheel assembly rotatably coupled to a vehicle chassis, the wheel assembly including at least two wheels coupled to a wheel assembly chassis. The drive mechanism further includes a wheel constraint module configured to control the orientation of the wheels and a power module configured to rotate the wheel assembly. Vehicle motion may be controlled by actuation of the wheel constraint and power modules.