Abstract: The invention relates to a robot for large-format, three-dimensional printing on a fixed surface, using five powered spindles. The inventive robot comprises an inkjet printing block, means for moving and orienting said printing assembly along several axes, at least one unit for controlling said means and a device for drying the ink sprayed onto the surface. According to the invention, the aforementioned movement and orientation means comprise: a support having three degrees of freedom in translation, which is used to position the printing assembly by enabling translational movements along horizontal, vertical and depth axes; and a wrist having two degrees of freedom in rotation, which is used to position and orient the printing assembly by enabling same to rotate in relation to two perpendicular axes. The invention also relates to a method of using said robot.

Abstract: The invention concerns a print robot for large format three-dimensional printing on a fixed surface (11) having five motorized axes, comprising an inkjet printing block (13), means for displacing and orientating this printing assembly along several axes, at least one control unit controlling these means and a drying device to dry the ink sprayed onto said surface (11), wherein these means comprise: a carrier (15) with three degrees of freedom in translation, ensuring the positioning of the printing assembly allowing its horizontal, vertical and depth translation, a wrist (16) with two degrees of freedom which supports and orientates the printing assembly (13) allowing its rotations along two perpendicular axes. The invention also concerns a process implementing this robot.

Abstract: A motorized gear shift control apparatus for a transmission gearbox of the kind having fixed gear ratios and a neutral position, comprising a first actuator which actuates a receptor element through a linkage having an output element coupled to the receptor element. The receptor element operates the gear shifting apparatus of the gearbox itself. The output element is mounted by means of the receptor element, so as to be moveable in rotary and/or translational movement, and the linkage includes an intermediate element for actuating the output element in response to the action of the first actuator. The output element is adapted so that during its displacement it can intercept and/or transverse a cam or ramp which is moveable in a fixed support. A second actuator is provided for moving the ramp in translational movement.

Abstract: A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.