Daniel J Whitney

US Patent:

42439230, Jan 6, 1981

Filed:

Jan 22, 1979

Appl. No.:

6/005483

Inventors:

Daniel E. Whitney - Arlington MA
James L. Nevins - Burlington MA

Assignee:

Massachusetts Institute of Technology - Cambridge MA

International Classification:

G05B 1300

US Classification:

318561

Abstract:

A servo system includes a servo loop incorporating an articulated mechanical arm or other controllable element, resolved motion rate control apparatus or other coordinate transformation apparatus, and an accommodation branch. The transfer characteristics may be readily adjusted to constrain the controllable element to accomplish a desired task, and the accommodation branch transfer characteristics may be readily modified to accomplish the performance of many different tasks without modifications to other portions of the system.

US Patent:

43240321, Apr 13, 1982

Filed:

May 5, 1980

Appl. No.:

6/146344

Inventors:

Richard E. Gustavson - Wellesley Hills MA
Craig C. Selvage - Lexington MA
Daniel E. Whitney - Arlington MA

Assignee:

The Charles Stark Draper Laboratory, Inc. - Cambridge MA

International Classification:

B23Q 1700
G01B 322
B25B 2714
B25J 300

US Classification:

29407

Abstract:

An operator member erection system having a laterally remote center including an operator member having a longitudinal axis; support means for defining a remote center of compliance laterally spaced from a longitudinal axis of the operator member and including means for interconnecting the operator member with support means for enabling the operator member to move about a remote center to vary the orientation of the operator member longitudinal axis relative to the support means as the operator member moves between an extended and a retracted position; and an insertion system which utilizes the operator member erection system in combination with a remote center compliance device.

US Patent:

45375577, Aug 27, 1985

Filed:

Apr 23, 1982

Appl. No.:

6/371197

Inventors:

Daniel E. Whitney - Arlington MA

Assignee:

The Charles Stark Draper Laboratory, Inc. - Cambridge MA

International Classification:

B25J 1702

US Classification:

414735

Abstract:

A remote center compliance (RCC) gripper system including: an erectable RCC device including a compliance unit having a plurality of compliance members; an articulated gripper mechanism interconnected with one end of the compliance unit and including a base having a generally centrally disposed joint and having a plurality of fingers extending therefrom; and apparatus for applying a force to the centrally disposed joint to fix the joint and erect the RCC device.

US Patent:

48416169, Jun 27, 1989

Filed:

Aug 3, 1987

Appl. No.:

7/081109

Inventors:

Daniel E. Whitney - Arlington MA

Assignee:

The Charles Stark Draper Laboratory, Inc. - Cambridge MA

International Classification:

B21C 3706

US Classification:

29157A

Abstract:

A method of fabricating elbow conduit including constructing a conduit development having a set of sequential segments, each segment having a lateral axis parallel to corresponding lateral axes of the other segments and a longitudinal axis skewed at least in part with respect to the lateral axis and having the same orientation as the corresponding longitudinal axes of the other segments in the set. The segments are joined end-to-end and the dimensions of the joined segments are transferred to a continuous length of material to generate a continuous blank havng periodically varying opposing boundaries. At least one outer alignment mark is defined on each segments of the blank to establish an outer ridge line on the outside circumference of the elbow and at least one inner alignment mark is defined on each segment to establish an inner ridge line on the inner circumference of the elbow. The method further includes helically winding the continuous blank to align the inner and outer alignment marks and join the abutting boundaries to form an elbow conduit. Helically wound elbow conduits formed from a continuous blank having curvilinear or rectilinear opposing boundaries are also disclosed.

US Patent:

50779419, Jan 7, 1992

Filed:

May 15, 1990

Appl. No.:

7/523599

Inventors:

Daniel E. Whitney - Arlington MA

Assignee:

Space Time Analyses, Ltd. - Arlington MA

International Classification:

B24B 4900

US Classification:

5116571

Abstract:

An automatic grinding system and method for grinding a surface having a predetermined pattern of raised and lower regions includes sensing the width of at least one of those regions; determining the height of the raised region above the lower region in response to the sensed width; and selecting the grinding speed and force and the velocity of the grinder over the surface in response to the determined height of the raised region.

US Patent:

44583214, Jul 3, 1984

Filed:

Aug 19, 1981

Appl. No.:

6/294349

Inventors:

Daniel E. Whitney - Arlington MA
Donald S. Seltzer - Arlington MA

Assignee:

The Charles Stark Draper Laboratory, Inc. - Cambridge MA

International Classification:

G05B 1300
G06F 900

US Classification:

364513

Abstract:

A self-teaching RCC device robot feedback system including: a robot mechanism; an RCC device carried by the robot mechanism; a robot driver unit for directing motion of the RCC device in an environment; means for determining the displacement of an RCC device with respect to the robot; and an adaptive learning system, responsive to the means for determining displacement, for detecting a pattern of displacements of the RCC device relative to its environment and generating commands to the robot driver unit to direct motion of the RCC device.

US Patent:

41568354, May 29, 1979

Filed:

May 29, 1974

Appl. No.:

5/474342

Inventors:

Daniel E. Whitney - Arlington MA
James L. Nevins - Burlington MA

Assignee:

Massachusetts Institute of Technology - Cambridge MA

International Classification:

G05B 1300

US Classification:

318561

Abstract:

A servo system includes a servo loop incorporating an articulated mechanical arm or other controllable element, resolved motion rate control apparatus or other coordinate transformation apparatus, and an accommodation branch. The transfer characteristics may be readily adjusted to constrain the controllable element to accomplish a desired task, and the accommodation branch transfer characteristics may be readily modified to accomplish the performance of many different tasks without modifications to other portions of the system.

US Patent:

46320466, Dec 30, 1986

Filed:

Mar 4, 1985

Appl. No.:

6/707608

Inventors:

David S. Barrett - Lowell MA
Arthur Ciccolo - Melrose MA
Donald C. Fyler - Cambridge MA
F. Keith Glick - Colorado Springs CO
John R. Lawson - Lincoln MA
Jay A. Sampson - Belmont MA
Frank J. Siraco - Malden MA
Robert D. Whiteside - Watertown MA
Daniel E. Whitney - Arlington MA
George A. Wood - Lincoln MA

Assignee:

The Charles Stark Draper Laboratory, Inc. - Cambridge MA

International Classification:

D05B 304

US Classification:

11212114

Abstract:

A limp material handling system includes a manipulating apparatus for selectively manipulating one or more layers of limp material on a support table. Folding is accomplished by lifting a curvilinear region of the material, reshaping that lifted region as desired, and lowering that lifted region to a curvilinear region on the support table. A seamed article assembly system incorporates the manipulating apparatus, a seam joining apparatus and a multiple parallel endless belt system for tactile presentation of the limp material to the seam joining apparatus. An optical sensing system provides information representative of the position of the limp material being handled. A programmable computer, or controller, coordinates and controls the operation of the manipulating apparatus, seam joining apparatus, belt assembly, and optical sensing system to provide automatic assembly of seamed articles.