Abstract: Anti-vibration units are provided for vibration suppression in multiple directions. The anti-vibration units may have an X-shaped structure as part of its support structure. The anti-vibration units can work for ultra-low frequency vibration isolation in three directions in a passive manner. The anti-vibration units can achieve a flexible nonlinear stiffness, which contains zero or quasi-zero stiffness, negative stiffness and positive stiffness. A smooth multi-equilibria state is also achievable. Compared with traditional spring-mass-damper (SMD) and typical QZS systems, the provided anti-vibration units can have an enhanced QZS range of larger stroke with guaranteed loading capacity, and can also achieve a lower resonant frequency with a lower resonant peak. At least some embodiments of the anti-vibration units may include a new and innovative arrangement of components that enables a more compact design than typical anti-vibration systems.

Abstract: Vibration isolation units are provided for vibration suppression in multiple directions. The vibration isolation units may have an X-shaped structure as part of its support structure. The vibration isolation units can work for ultra-low frequency vibration isolation in three directions in a passive manner. The vibration isolation units can achieve a flexible nonlinear stiffness, which contains zero or quasi-zero stiffness, negative stiffness and positive stiffness. A smooth multi-equilibria state is also achievable. Compared with traditional spring-mass-damper (SMD) and typical QZS systems, the provided vibration isolation units can have an enhanced QZS range of larger stroke with guaranteed loading capacity, and can also achieve a lower resonant frequency with a lower resonant peak. At least some embodiments of the vibration isolation units may include a new and innovative arrangement of components that enables the use of only four supporting members.

Abstract: A suspension system with vibration isolation is described. The system can incorporate a kinematic structure comprising pairs of X-shaped supporting structures connected in parallel. The kinematic structure limits motion in the vertical direction to a single degree of freedom. Tensioning/damping of the kinematic structure orthogonally to the vertical motion limits horizontal motion of the kinematic structure with a corresponding constraint of motion of in the vertical direction. The tensioning/damping imparts passive nonlinear stiffness and nonlinear damping of the vibrational energies across the suspension system. A tuning mechanism can be incorporated enabling tension/damping adjustment to accommodate different heights and payloads. The system can provide vibration isolation at low frequencies and over a wide range of operational frequencies. The suspension system has tunable ultra-low resonant frequencies with anti-resonance characteristics.

Abstract: One or more systems, methods and/or non-transitory, machine-readable mediums are described herein for controlling a suspension system.

Abstract: The present disclosure provides a disturbance employment-based sliding mode control (DESMC) method for four-degrees-of-freedom (4-DOF) tower crane systems. The method includes the following steps: acquiring parameter data and operating state data of the 4-DOF tower crane systems; conducting, based on the acquired data, disturbance estimation by using a preset nonlinear disturbance observer, and conducting judgment on beneficial disturbance and detrimental disturbance according to a preset disturbance effect indicator (DEI); and adding the beneficial disturbance to a preset sliding mode controller, removing the detrimental disturbance, driving a jib and a trolley to a desired slew angle and a desired target displaced position, respectively, and setting a payload swing angle to 0 or within a preset range.

Abstract: A bionic underwater robot for achieving a variety of motions is disclosed. The bionic underwater robot includes a head and one or more tail structures. Each of the one or more tail structures includes one or more joint structures. Each of the one or more joint structures includes a connection plate, and a modular assembly, comprising an upper servo motor, a lower servo motor, and a bevel gear mechanism, is motorized for performing various movement motions of the joint structure. The bevel gear mechanism is integrally formed by an intermediate bevel gear, a first bevel gear, and a second bevel gear. The upper servo motor drives the first bevel gear from a first side of the modular assembly, while the lower servo motor drives the second bevel gear from a second side.

Abstract: A bionic underwater robot for achieving a variety of motions is disclosed. The bionic underwater robot includes a head and one or more tail structures. Each of the one or more tail structures includes one or more joint structures. Each of the one or more joint structures includes a connection plate, and a modular assembly, comprising an upper servo motor, a lower servo motor, and a bevel gear mechanism, is motorized for performing various movement motions of the joint structure. The bevel gear mechanism is integrally formed by an intermediate bevel gear, a first bevel gear, and a second bevel gear. The upper servo motor drives the first bevel gear from a first side of the modular assembly, while the lower servo motor drives the second bevel gear from a second side.

Abstract: In an aspect of the disclosure there is provided a vibration reducing apparatus for a percussive tool having an axis of reciprocation. The apparatus comprises, a guide frame and at least one member extending across the axis of reciprocation. An assembly extending in a direction of along the axis of reciprocation comprises at least two layers and each layer comprises four interconnected elongate members pivotally attached and rotatable with respect to each other to define a polygon; and the assembly has at least one biasing means. A handle is movably coupled to the guide frame and supported on the assembly. The apparatus provides decreasing stiffness with increasing compression of the assembly under an applied load to the handle for reducing vibration in a predetermined frequency range.

Abstract: In an aspect of the disclosure there is provided a vibration reducing apparatus for a percussive tool having an axis of reciprocation. The apparatus comprises, a guide frame and at least one member extending across the axis of reciprocation. An assembly extending in a direction of along the axis of reciprocation comprises at least two layers and each layer comprises four interconnected elongate members pivotally attached and rotatable with respect to each other to define a polygon; and the assembly has at least one biasing means. A handle is movably coupled to the guide frame and supported on the assembly. The apparatus provides decreasing stiffness with increasing compression of the assembly under an applied load to the handle for reducing vibration in a predetermined frequency range.