Abstract: It is an object of the present invention to solve the problem of a drop in precision in conventional systems using a square pyramid type five-hole probe due to the drop in atmospheric pressure in high altitude ranges, and to provide a wide velocity range flight velocity vector measurement system that can prevent a drop in measurement precision. Furthermore, it is also an object of the present invention to provide a method for eliminating the effects of detection fluctuations caused by adhering water droplets, ice particles or dust in a wide velocity range flight velocity vector measurement system.

Abstract: It is an object of the present invention to solve the problem of a drop in precision in conventional systems using a square pyramid type five-hole probe due to the drop in atmospheric pressure in high altitude ranges, and to provide a wide velocity range flight velocity vector measurement system that can prevent a drop in measurement precision. Furthermore, it is also an object of the present invention to provide a method for eliminating the effects of detection fluctuations caused by adhering water droplets, ice particles or dust in a wide velocity range flight velocity vector measurement system.

Abstract: An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit 4 is composed of a first arm 1, a rotation correction arm 2 rotationally driven around the axial line of the first arm, and a second arm 3 rotationally driven around an axial line obliquely intersecting with the rotation correction arm.

Abstract: A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.

Abstract: An object of the present invention is to obtain a robot provide a robot having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. According to the present invention, a robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.

Abstract: An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit 4 is composed of a first arm 1, a rotation correction arm 2 rotationally driven around the axial line of the first arm, and a second arm 3 rotationally driven around an axial line obliquely intersecting with the rotation correction arm.

Abstract: The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened.

Abstract: In a rotary articulated robot having at least a plurality of offset rotary joints in which a drive arm and driven arm are driven in rotation about an offset rotary axis inclined with respect to the arm axis, a hollow rotary shaft that is driven in rotation by a motor is arranged rotatably, being inclined, at the leading end of the arm of either the drive arm or driven arm while a rotor member to which turning effort from the hollow shaft is transmitted is fixed at the base of the other arm, said hollow rotary shaft and said rotor member constituting a high reduction ratio transmission/torque increasing mechanism.

Abstract: An arithmetic processing method and system in a wide velocity range flight velocity vector measurement system using a square truncated pyramid-shape five-hole Pitot probe. Approximation equations that determine attack angle &agr; and sideslip angle &bgr; in the form of third-order equations concerning attack angle pressure coefficient C&agr; and sideslip angle pressure coefficient C&bgr;, which are known numbers, are expressed in the form of a polynomial equation concerning Mach number M, where the coefficients are obtained from a lookup table.

Abstract: The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened.

Abstract: A flight velocity vector measuring system in a wide velocity region in which an attack angle pressure coefficient C&agr; of air current, a sideslip angle pressure coefficient C&bgr; and an air current angle pressure coefficient C&ggr; are obtained from five pressure information detected by a square truncated pyramid-shape probe. The aforementioned pressure coefficients, pressure calibration coefficients with respect to a Mach number M, an attack angle &agr; and a sideslip angle &bgr; every velocity region obtained by dividing the wide velocity region into a plurality of regions stored in advance in the calculation processor, and a Mach number M, an attack angle &agr; and a sideslip angle &bgr; of unknown quantity constitute a calculation processing expression comprising a polynomial approximation to call the pressure calibration coefficients in the velocity region, and flight velocity vectors (M, &agr;, &bgr;) are calculated by the polynomial approximation.

Abstract: A transportable three-dimensional calibration wind tunnel system is comprised of a small wind tunnel portion for creating a three-dimensional calibration air having a suitable wind velocity, and a two-axis rotational deformation device portion for causing said wind tunnel portion to effect a conical motion with a nozzle blow port being an apex to suitably change a flow angle. The two-axis rotational deformation device is comprised of a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and a .alpha.-angle rotational deformation device having a .alpha.-angle deformation base supported to be rotated vertically. A rotational axis of the .alpha.-angle deformation base, a rotational axis of the .beta.-angle deformation base and a center axis of the small wind tunnel portion are arranged so that they intersect at a point.

Abstract: An air active control aircraft having an air three-dimensional true airspeed detection system composed of an air data sensor probe in the form of a truncated pyramid-shape Pitot probe and an air flight velocity operation processor for calculating an air flight velocity vector from three-dimensional air pressure information detected by the air data sensor probe, airframe motion detection sensors for detecting an airframe motion, and an on-board control computer for generating a flight control law. The on-board control computer inputs an air flight velocity vector signal obtained from the air flight velocity vector device into a control-surface control system in parallel with airframe motion detection sensor signals, and presumes a flight motion induced by a change in air to generate the flight control law for quickly carrying out air flight stability control.

Abstract: A transportable three-dimensional calibration wind tunnel system consisting of a small wind tunnel portion for creating a three-dimensional airflow having a suitable wind velocity, and a two-axis rotational deformation device portion for causing the wind tunnel portion to effect a conical motion with a nozzle blow port being in close proximity to an apex to suitably change a flow angle. The two-axis rotational deformation device includes a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and an .alpha.-angle rotational deformation device having an .alpha.-angle deformation base supported to be rotated vertically. A rotational axis of the .alpha.-angle deformation base, a rotational axis of the .beta.-angle deformation base and a center axis of the small wind tunnel portion are arranged so that they intersect at a point.

Abstract: A transportable three-dimensional calibration wind tunnel system consists of a small wind tunnel portion for creating a three-dimensional airflow having a suitable wind velocity, and a two-axis rotational deformation device portion for causing the wind tunnel portion to effect a conical motion with a nozzle blow port being in close proximity to an apex to suitably change a flow angle. The two-axis rotational deformation device includes a .beta.-angle rotational deformation device having a .beta.-angle deformation base supported to be rotated horizontally, and an .alpha.-angle rotational deformation device having an .alpha.-angle deformation base supported to be rotated vertically. A rotational axis of the .alpha.-angle deformation base, a rotational axis of the .beta.-angle deformation base and a center axis of the small wind tunnel portion are arranged so that they intersect at a point.

Abstract: A mounting object comprises a combination of a mounting object body wherein engaging portions of fastener elements of a metallic heat-resistant two-dimensional fastener are projected outside from a mounting surface, and base portions are embedded and integrally molded, and a mating fastener element base object wherein mating fastener elements in detachably engagement with said fastener elements are projected and integrally molded. Said mounting object body is obtained as a heat-resistant material integral with a metallic two-dimensional fastener by covering and fixing part of the fastener elements of the metallic two-dimensional fastener with a carbon powder having a high melting temperature and covering bases thereof with a metallic powder, a ceramics powder or a mixed powder of them to mold and sinter it.

Abstract: A floating board is installed on a surface table through an extremely low friction plane sliding and supporting mechanism, such as using a gas bearing, of two-dimensional 3 freedom to thereby constitute a plane sliding mechanism portion, and a vertical sliding shaft tube supported to be enable translation in a vertical direction and connected to a balance belt for applying a balance weight is provided on the floating board through an extremely low friction vertical shaft sliding and supporting mechanism, such as a bas bearing, to thereby constitute a vertical shaft sliding mechanism portion.

Abstract: A mounting object comprises a combination of a body wherein elements of a metallic heat-resistant two-dimensional fastener in a mounting surface, and their engaging portions projecting therefrom have their base portions embedded and integrally molded, and a mating base object wherein integrally molded mating fastener elements project for detachable engagement with said fastener elements. The mounting object body is formed as a heat-resistant material integral with a metallic two-dimensional fastener by covering and fixing part of the fastener elements of the metallic two-dimensional fastener with a carbon powder having a high melting temperature and covering bases thereof with a metallic powder, a ceramics powder, or a mixture thereof which is molded and sintered.

Abstract: A flight velocity detection system using a truncated pyramid-shape multi-e Pitot probe in which an extreme end portion has a truncated pyramid-shape, a cylindrical hole is provided at the apex thereof, a total pressure tube of a smaller diameter than that of the cylindrical hole is secured at a position by a predetermined length determined by a relationship with the diameter of the cylindrical hole from the extreme end of the cylindrical hole, and groups of pressure holes comprised of a plurality of pressure holes are arranged in each of the truncated pyramid surfaces of the truncated pyramid shape. Items of pressure information detected by the probe are input into a velocity vector processor to convert them into electric signals, and signals are processed using pressure coefficients of the holes of the probe with respect to the velocity vector stored in advance in the velocity vector processor to calculate flight velocity vector (V, .alpha., .beta.

Abstract: A plurality of eccentric rotors are rotatably fitted between a fixed base and an output shaft on which an object to be vibrationproofed is mounted, the output shaft being supported movably in 3 to 6 Degree-of-Freedom, magnet spring mechanisms are provided on fitted wall surfaces between the fixed base and the eccentric rotor, a composite vibrationproof adjusting spring is provided between the fixed base and the output shaft, the magnet spring mechanism responding to a fine displacement of the output shaft, and in a case where the output shaft is greatly displaced, the output shaft is braked so as to be restored to a predetermined position by the composite vibrationproof adjusting spring mechanism. The magnet spring mechanism produces a large braking force since a rotational angle is large and a rotational-angle speed is high due to eccentricity of eccentric rotors.