Abstract: A cable-driven parallel robot (CDPR) includes at least two sets of rotors each coupled to a respective one of at least two supports. The sets of the rotors are positioned above a surface, an effector is positioned at a horizontal planar location between the sets of the rotors and at a vertical location above the surface. At least two sets of cables each have cables coupled to a respective one of the sets of the rotors at first ends of the respective set of the cables and to an effector at second ends of the respective set of the cables. Each set of the sets of rotors is configured to control tension to the respective one set of the sets of cables for moving the horizontal planar location. Each set of the sets of rotors is vertically movable on the respective one of the supports for moving the vertical location when the sets of rotors are vertically moved, e.g., moved synchronously.

Abstract: A method for fabricating an artificial skin such as for use with a robotic assembly. The method includes providing a mold assembly with an exterior mold and an interior core. A cavity is defined between inner surfaces of the exterior mold and exterior surfaces of the interior core, thereby defining a shape and thickness of a skin. A surface of the interior core includes offsets or standoffs extending outward from the interior core surface. The method further includes positioning a sheet of reinforcement material over the surface such that the sheet contacts the offsets. The method includes pouring material for the skin system into the mold to occupy the cavity between the exterior mold and the interior core. The method includes disassembling the mold assembly and removing the skin with the sheet of reinforcement material embedded within the skin at an offset distance from a surface of the skin.

Abstract: An XY all-directional precision alignment platform is provided and includes an XY-axes moving platform including X-axis moving platform and Y-axis moving platform, the X-axis and Y-axis moving platforms being stacked together, and a ?-angle rotating platform, the ?-angle rotating platform stacked onto the carrier surface thereof; wherein the ?-angle rotating platform is driven to perform precise ?-angle rotation achieving 360° and is of a four-layered thickness only, achieving the goal of having a light and thin product.

Abstract: A device for a body's spherical motion control connected with a frame by means of a spherical joint arranged on a shank connecting the body with the frame and through actuating arms with drives, where the shank is sectional and the spherical joint is arranged between the first part of the shank which is firmly fixed to the frame and the second part of the shank which is firmly fixed to the body, whereas the number of parallel arms with drives is redundant. In order to increase the accuracy of both the self-calibration itself and a follow-up positioning of the body in the work area and to achieve a large range of the body's rotating, the number of parallel arms with drives is five at minimum and the length of the first part of the shank connected to the frame is longer than the distance of the body edge from the point of connection of the shank to the body.

Abstract: A movable operation unit is movable on a two-dimensional operation surface of a main body. The two-dimensional operation surface is defined by an X-axis and a Y-axis perpendicular to each other. A Y-axis movable portion is rotatable around a rotation axis. The Y-axis movable portion is movable in the Y-axis direction when rotating around the rotation axis. The rotation axis extends in the X-axis direction relative to the main body. The Y-axis movable portion includes a sliding rail portion on which the movable operation unit is slidable in the X-axis direction. The movable operation unit is operable to slide in the X axial direction and move in the Y axial direction accompanied with rotation of the Y-axis movable portion around the rotation axis to performs a parallel shift in the two dimensional direction while regularly and constantly maintaining a posture of the movable operation unit.

Abstract: Robots, and atomic force microscopes including robots, that utilize in-plane actuators to provide large out-of-plane working volumes and forces.

Abstract: A work transfer apparatus includes a work carrying mechanism, a driving source that drives the work carrying mechanism, a sealed box that accommodates the driving source in a hermetically sealed state, and a coolant circulation path provided in the sealed box for cooling the driving source. The sealed box includes a box body with an opening, and a partition lid for closing the opening. The partition lid includes an outer plate member and an inner plate member superposed on the outer plate member. The coolant circulation path is disposed at the interface between the outer plate member and the inner plate member.

Abstract: A motion platform system comprising a motion platform which is supported above a base by displacement units. Displacement units comprise a drive unit which drives a crank. A connecting arm is connected between the crank and the motion platform, so that translational and tilting movement of the motion platform is achieved by appropriate operation of the drive units. Each connecting arm has a curved profile which enables a full range of movement of the motion platform to be achieved using connecting arms of relatively short length. The connection between the connecting arm and the crank arm can be brought close to, or within, the crank arm. The height of the motion platform above the base, and bearing loads within the drive units, can thus be reduced.

Abstract: A robot for virtual reality experience, in which a settling body for a user is moved in multidirectional according to operation states of first and second moving units and first and second crank motors. The settling body creates various moving directions according to the operation states of the first and second moving units and the first and second crank motors, and each magnitude of forces applied to each moving direction is changed, thereby forming the various waveforms.

Abstract: A platform actuator includes a substrate, a first, a second, and a third spherical input slider-crank mechanism, wherein each of the first, second, and third spherical input slider crank mechanism is coupled by a first end to said substrate, and a platform is coupled to a second end of each of the first, second, and third spherical input slider-cranks. According to one exemplary embodiment, each of the first, second, and third spherical input slider-crank mechanisms are configured to convert in-plane motion to out-of-plane motion.

Abstract: The present invention relates to a planar 3-DOF (degree of freedom) stage, which includes: a transitional manipulator section having parallel 2-DOF; a rotation manipulator section having rotation 1-DOF so as to carry out motion independently from the transitional manipulator section; and a stage base mounted with the transitional manipulator section and the rotation manipulator section and having a fixing section inside and a driving section outside. According to the planar 3-DOF stage, transitional motion and rotational motion are independently carried out so that it is possible to reduce motion errors and simplify control and design.

Abstract: A parallel kinematic positioning system 10 (PKPS 10) that is comprised of a stationary base plate (12) and an upper movable platform (28) to which is attached a workpiece or an instrument. Between the stationary base plate (12) and the upper movable platform (28) are positionally attached six strut assemblies (50). The six strut assemblies operate a hexapod that include in combination, a counterbalance subassembly (111), a servo motor subassembly (134), a bearing and encoder subassembly (156) and an electronics circuit (190). The combination accurately and repeatably positions the upper movable platform (28) within six degrees of freedom relative to the base plate (12).

Abstract: A machine tool having a carrier device for workpieces or tools or tool spindles. A console supports the carrier and can be pivoted about a first axis (X) from the horizontal into the vertical position and beyond. The console is pivotably housed on carriages guided in the machine body. The carrier for a workpiece, a tool, or a tool spindle is arranged on the console, and a drive device is provided for the synchronous displacement of the carriages on guide rails fixed on the machine tool. The console is hinged via two crank-like arms to the stationary machine body in addition to being supported on both carriages to form a kniematic coupling.

Abstract: A parallel robot includes a fixed platform, a movable platform, and a plurality of chains positioned in parallel between the fixed platform and the movable platform. Each chain includes a first connecting member, a second connecting member, a first ball joint, and a second ball joint. The first connecting member connects to the second connecting member with a prismatic joint. The first connecting member connects to the fixed platform via the first ball joint, and the second connecting member connects to the movable platform via the second ball joint. Each of the first and second ball joints includes a ball member, a socket member, and a resilient pressing mechanism. The ball member couples with the socket member. The resilient pressing mechanism is positioned between the ball member and the socket member, applying compression to cause the ball member to tightly contact the socket member.

Abstract: A single rotational axis motion generation and positioning apparatus having a work load support connected to a housing by a pivot joint. Rotation of an axial cam supported by the housing, creates a displacement which is transmitted to the work load support by at least one axial cam follower. The axial cam follower displacement is transformed into a rotational torque on the work load support about the pivot joint, which results in rotation of the work load support about the rotational axis of the pivot joint.

Abstract: An apparatus, system, and method are disclosed for maintaining normalcy of a sensor with respect to a structure. The apparatus includes a driving member, a driven member, and a sensor. The driving member includes a first engaging element and a second engaging element. The driven member includes a third engaging element and a fourth engaging element. The third engaging element of the driven member is engaged with the first engaging element of the driving member. The fourth engaging element of the driven member is engaged with the second engaging element of the driving member. The sensor is coupled to the driven member, which is rotatably drivable by the driving member. Engagement between the first and third engaging elements facilitates three-dimensional adjustment of the driven member relative to the driving member. Engagement between the second and fourth engaging elements facilitates co-rotation of the driving member and the driven member.

Abstract: A mounting device includes a vertically movable mounting table for mounting thereon a target object and a rotational driving mechanism for rotating the mounting table within a predetermined angle. The mounting table is vertically raised and rotated by the rotational driving mechanism. The rotational driving mechanism includes a driving shaft extending in a tangential direction of the mounting table and a moving body moving in the tangential direction via the driving shaft. A first cam follower is attached in perpendicular to the moving body and a second cam follower is extending horizontally from an outer circumferential surface of the mounting table so as to be in contact with the first cam follower. Also, a resilient member connecting the mounting table and the moving body brings the first cam follower and the second cam follower into elastic contact with each other.

Abstract: A table system includes a moving table, first and second guide rails extending along a linear path, a first slider positioned between the moving table and the first guide rail including a first revolving assembly, a second slider positioned between the moving table and the second guide rail including a second revolving assembly and a sliding assembly slidably connected to the second revolving assembly, first and second linear actuators to move the first and second sliders. The moving table is rotatably connected to the first guide rail by the first revolving assembly; the sliding assembly is rotatably connected to the second guide rail by the second revolving assembly, and the sliding assembly is slidably connected to the moving table. The first and second linear actuators are selectively actuated to control the movement of the moving table along linear and curved paths.

Abstract: A toggle-type positioning platform including a first platform, a motor, a screw rod, a second platform and a linkage is provided. The motor and the screw rod are disposed on the first platform; the motor is coupled to the screw rod and suitable for driving the screw rod to rotate. The second platform is above the first platform and is suitable for moving back and forth alternately along a predetermined path, wherein an included angle exists between an extended direction of the predetermined path and the screw rod. The linkage is disposed between the first platform and the second platform, and is connected between the second platform and the screw rod. The linkage is driven by the rotation of the screw rod, to drive the second platform to move along he predetermined path. Accordingly, the positioning precision of the toggle-type positioning platform is enhanced.

Abstract: Systems to control movement of a template during an imprint lithography process are described. The systems include an orientation stage having an inner frame, and outer frame, and a plurality of actuators coupled between the inner frame and the outer frame to vary translational motion and impart angular motion about a plurality of axes.

Abstract: A deformable robotic surface has a plurality of control points 102, a plurality of connectors 104 extending between the control points, and a covering 106 extending over the plurality of control points. The control points 102 are moveable relative to each other. Movement of the control points 102 relative to each other causes a corresponding movement of the covering 106 and a corresponding movement of the control point connectors 104.

Abstract: A manipulator for use in e.g. a Transmission Electron Microscope (TEM) is described, said manipulator capable of rotating and translating a sample holder (4). The manipulator clasps the round sample holder between two members (3A, 3B), said members mounted on actuators (2A, 2B). Moving the actuators in the same direction results in a translation of the sample holder, while moving the actuators in opposite directions results in a rotation of the sample holder.

Abstract: A device for a body's (1) spherical motion control connected with a frame (5) by means of a spherical joint (2) arranged on a shank connecting the body (1) with the frame (5) and through actuating arms (3) with drives (4), where the shank is sectional and the spherical joint (2) is arranged between the first part (9) of the shank which is firmly fixed to the frame (5) and the second part (10) of the shank which is firmly fixed to the body (1), whereas the number of parallel arms (3) with drives (4) is redundant. In order to increase the accuracy of both the self-calibration itself and a follow-up positioning of the body in the work area and to achieve a large range of the body's (1) rotating, the number of parallel arms (3) with drives (4) is five at minimum and the length of the first part of the shank (9) connected to the frame (5) is longer than the distance of the body (1) edge from the point of connection of the shank (10) to the body (1).

Abstract: A scalable and adaptable, six-degree-of-freedom, kinematic positioning system is described. The system can position objects supported on top of, or suspended from, jacks comprising constrained joints. The system is compatible with extreme low temperature or high vacuum environments. When constant adjustment is not required a removable motor unit is available.

Abstract: A device for handling and/or performing work operations on objects comprises: at least a first arm (2) comprising a first end (2a) for supporting a tool (3) for moving or working; means for supporting and moving (4) the first arm (2) which comprise at least a first linear electric motor (5), developing on a closed path (P), for moving the first arm (2) along a circular trajectory (91), and at least a second linear electric motor (6), to which the first arm (2) is directly connected, developing in an arched trajectory (92). The first (5) and the second (6) linear electric motors cooperate to move the first arm (2).

Abstract: A manipulator for use in e.g. a Transmission Electron Microscope (TEM) is described, said manipulator capable of rotating and translating a sample holder (4). The manipulator clasps the round sample holder between two members (3A, 3B), said members mounted on actuators (2A, 2B). Moving the actuators in the same direction results in a translation of the sample holder, while moving the actuators in opposite directions results in a rotation of the sample holder.

Abstract: A system for positioning an object includes a base and a platform for detachably retaining the object. A first linear actuator is pivotably coupled to a first pivot axis of the platform and a first pivot axis of the base. A second and a third linear actuator are pivotably coupled to a second pivot axis of the base and the first pivot axis of the platform. A fourth linear actuator is pivotably coupled to the second pivot axis of the base and a second pivot axis of the platform. The first, second, third and fourth linear actuators being selectably adjustable in length to position the platform at a select position about a predetermined arc of travel.

Abstract: A table system for vacuum application has a base plate and a moving table guided by aerostatic bearing units. The bearing units (10) are connected to supply lines and suction lines for supplying and extracting the gas required for the operation of the bearing units and are provided in each instance with a sealing system having at least one stage and comprising suction channel and sealing gap for sealing relative to the vacuum. The table system is characterized in that the aerostatic bearing units (10) are constructed at least partially as swivel joints, and a push rod (4) which is actuated by a drive (5) for guiding the moving table laterally is connected to the rotating part (21) of each swivel joint, and in that the push rods (4) are hollow and constitute a component part of the suction lines for extracting the operating gas.

Abstract: A planar parallel mechanism having a platform movable in a plane along three degrees of freedom is described Existing technology fails to provide a manipulator with three degrees of freedom, wherein the mechanisms for moving the manipulator move in a decoupled fashion A manipulator and method of supporting and displacing an object which provides a solution to this problem comprises a base (1) and a moving portion (2) and articulated support legs (A1,A2,A3) between the moving portion (2) and the base (1) The articulated support legs (A1,A2,A3) are connected to the base (1) by a first translational joint, and jointly restrict movement of the moving portion to displacements in a plane in two translational degrees of freedom and one rotational degree of freedom A decoupled displacement of the moving portion (2) along a first of the two translational degrees of freedom and a decoupled displacement of the moving portion (2) along the rotational degree of freedom both result from actuation of at most two of the firs

Abstract: The nanopositioner that consists of two parallelograms is formed in inverted manner to each other. The amplification lever from the actuator point actuates the second parallelogram, which comes from the first one. The lever and the second parallelogram are connected by means of flexural hinges. This entire system is a monolithic structure as shown in FIG. 5. When the actuator expands, the actuator lever actuates the second parallelogram at the center or middle of its column length. This causes the displacement of both the parallelograms. Since the two parallelograms are perpendicular to each other, perpendicular deflection is reduced. Actuating at the center of the parallelogram length with amplification lever reduces the arcuate motion and linear displacement of the moving stage is obtained in the nanopositioner.

Abstract: A positioner (2) for moving a sample platform (6) relative to a base (4) is described. The positioner is driven by a piezoelectric arranged to expand and contract along a drive axis, the piezoelectric element has an input end coupled to the base and an output end coupled to first (14) and second (16) output levers extending away from the drive axis of the piezoelectric element in opposing directions. The output levers each have an inner arm arranged to be acted on by the piezoelectric element as it expands and an outer arm to which the sample platform is mounted via platform supports (26, 28). The output levers are mounted such that the piezoelectric element acts on the inner arms of the output levers to cause the outer arms to move in a plane containing the drive axis. This motion of the output levers is communicated via the platform supports to the sample platform, so moving it relative to the base along a direction parallel to the drive axis.

Abstract: A supporting unit in a moving table device, easily connected to a base and a table, is provided. A supporting unit (U?) has a pair of planar bearing plates. Inside the planar bearing plates are positioned spherical bearing plates, respectively. Further, a spherical axial member is sandwiched between the spherical bearing plates (34a, 34b). A planar bearing is formed between each of the planar bearing plates and each of the spherical bearing plates. A spherical bearing is formed between each of the spherical bearing plates and the spherical axial member. Thus, the supporting unit (U?) is provided with a certain degree of movability in five-axis directions. With the high degree of movability, the supporting unit (U?) can be easily connected to a base and a table.

Abstract: A positive load alignment mechanism comprises a platform device in which are disposed a plurality of driving devices, movable devices and movable bearing platforms. The driving device is connected to the movable device, and the movable bearing platform firmly supports a movable platform of the platform device. The driving devices are used to drive the movable devices to perform the back-and forth or left-and-right or rotating movement, and the movable bearing platforms firmly support the movable platform. By such arrangements, it can achieve the objectives of high pressure resistance, simplified structure, high security, high accuracy and all-direction displacement.

Abstract: In a six-degree-of-freedom precision positioning system, magnetic force and fluid buoyancy are used to levitate a platform, and the non-contact magnetic force between electromagnets and magnets forms a main driving force for the platform. Therefore, no friction is present in the system and no lubricating mechanism is needed for the system. Moreover, in the system, electric current is converted by electromagnets and magnets into a magnetic driving force without using any transmission gears. Therefore, the backlash phenomenon that is not easily controllable in the conventional servo positioning systems is avoided. The system has simplified structure without the need of complicated fabrication, and utilizes the properties of fluid to achieve low power consumption, high precision positioning, and fast response.

Abstract: A MEMS actuator includes a coil stack in the form of microfabricated, electrically conductive first and second superposed layers. A magnet array is superposed in magnetic communication with the coil stack, with first and second coils being selectively, electrically actuatable to generate relative movement between the coil stack and the magnet array both in-plane and out-of-plane. In various embodiments, a plurality of the actuators are integrally coupled to a microfabricated compliant mechanism to provide a high bandwidth, six degree of freedom nanopositioner.

Abstract: A scalable and adaptable, six-degree-of-freedom, kinematic positioning system is described. The system can position objects supported on top of, or suspended from, jacks comprising constrained joints. The system is compatible with extreme low temperature or high vacuum environments. When constant adjustment is not required a removable motor unit is available.

Abstract: The invention relates to a motorized manipulator for positioning a TEM specimen holder with sub-micron resolution parallel to a y-z plane and rotating the specimen holder in the y-z plane, the manipulator comprising a base (2), and attachment means (30) for attaching the specimen holder to the manipulator, characterized in that the manipulator further comprises at least three nano-actuators (3a, 3b, 3c) mounted on the base, each nano-actuator showing a tip (4a, 4b, 4c), the at least three tips defining the y-z plane, each tip capable of moving with respect to the base in the y-z plane; a platform (5) in contact with the tips of the nano-actuators; and clamping means (6) for pressing the platform against the tips of the nano-actuators; as a result of which the nano-actuators can rotate the platform with respect to the base in the y-z plane and translate the platform parallel to the y-z plane.

Abstract: An industrial robot able to reliably prevent fall of an elevating part and able to improve a degree of freedom of design, that is, an industrial robot comprising a base body; an elevating part able to rise and descend with respect to the base body; an elevation drive source; a transmission mechanism for transmitting the drive force of the elevation drive source; a drive mechanism for making the elevating part rise and descend by the drive force transmitted via the transmission mechanism; a sensor for detecting an abnormality of the transmission of the drive force from the drive source to the elevating part; and a fall prevention part supported by one of the base body and the elevating part and abutting against the other of the base body and the elevating part and preventing fall of the elevating part when the sensor detects an abnormality of the transmission mechanism.

Abstract: A tilting circular table device includes: a frame; a tilting table supported on the frame so as to angularly rotate about a first axis; a circular table disposed in the tilting table so as to angularly rotate; an input shaft for rotating the circular table and disposed on the tilting table so as to angularly rotate about a second axis; a drive motor having an output shaft for rotating the input shaft and angularly rotatable about the third axis; and a body portion attached to the frame so as to angularly rotate about the third axis; and a follower mechanism for making the body portion driven about the second axis, following rotation of the tilting table.

Abstract: The present invention is a friction- and backlash-fee flexible parallel manipulator device. The device is composed of multiple elastic fiber legs with various physical properties, a top platform, and a bottom platform. With multiple degrees of freedom, the motion of the top platform is controlled by the multiple elastic fiber legs whose lengths or curvatures between the top and bottom platforms are controlled based on the required motion of the top platform. The device can be used for nano-, micro-, or meso-manipulation.

Abstract: This controller, between a fixed base (1) and a control handle (4), comprises three similar arms (2) of which each comprises three links (5,6,7) jointed between the base and the handle platform by a pivot (8), two rotation joints (9 and 10) and a ball-joint (11). This controller with six degrees of freedom includes force feedback motors at the first and second joints (8 and 9) of which the first is fixed to the base (1) and the second to the first link (5), so that the first is immobile and the other has scarce movement; the third joint (10) is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced.

Abstract: A system for controlling an axial movement of an article is presented. The system comprises a support stage assembly and a spring suspension arrangement mounted on the support stage assembly. The spring suspension arrangement comprises first and second assemblies arranged in a coaxial relationship one inside the other. The first assembly is attached to the support stage assembly. The second assembly serves for supporting an article-carrying member and is driven for movement along the axis with respect to the first assembly. The outer one of the first and second assemblies is configured to define two spaced-apart parallel planes perpendicular to said axis. The first and second assemblies are attached to each other by first and second membrane-like members arranged in a spaced-apart parallel relationship along said axis.

Abstract: Provided is an ultra-precision positioning system. The system comprises a base, a motion stage movably provided to the top of the base, and first to sixth feeding mechanisms for moving the motion stage to have six degrees of freedom. The first to sixth feed mechanisms are fixed to the base and the motion stage, respectively. Each of the first to third feeding mechanisms has a piezo actuator and two elastic hinges provided at both sides of the piezo actuator. Each of the fourth to sixth feeding mechanisms has a piezo actuator, three hinge members, and a lever member with a notch hinge which operatively cooperates with the hinge members.

Abstract: A transporting apparatus includes a supporting part, first and second driving axles rotatably supported by the supporting part, a plurality of driving links respectively combined to the first and second driving axles, a plurality of transporting links rotatably connected to the driving links, and a transporting table rotatably connected to the transporting links by pivots to reciprocate by a cooperation of the driving links and the transporting links. The first and second driving axles are aligned in a reciprocating direction of the transporting table. Thus, the present invention provides a transporting apparatus in which the first and second driving axles are aligned in a reciprocating direction of the transporting table, so that a moment load acting on the transporting table is decreased, preventing the transporting table from drooping and enhancing transport efficiency.

Abstract: A pinion gear type rotating device, in particular, is used in electromagnetic interference characterization of a fiber optics transceiver, by which a member, such as a fiber optics transceiver can be held and rotated by at least 360 degrees about x, y and z axes.

Abstract: A closed box structure of a horizontal linear motor machine tool, comprising a frame, serving as a machine platform, carrying an X-movable part, a Y-movable part, and a Z-movable part, with said Y-movable part mounted on said X-movable part, said Z-movable part mounted on said Y-movable part, and said Z-movable part having a main axis head; characterized in that said frame, said X-movable part and said Y-movable part are shaped like open squares, said X-movable part, said Y-movable part and said Z-movable part each carry a set of two symmetrically adapted linear motors for being driven, wherein for each of said sets of linear motors magnetic forces are balanced against each other, so that deformations due to magnetic forces are avoided.

Abstract: A robotic portion 1 has X-axis, Y-axis and Z-axis modules 2, 3, 4 and can move in three axial directions. This robotic portion 1 is mounted in such a manner as to move on a second base 10 in the X-axis direction. Furthermore, the second base is mounted in such a manner as to move on a first base 12 in the Y-axis direction. Then, the robotic portion 1 can be moved on either the first or second base 12, 10 on pins 7, 8 provided on the Z-axis module 4 which act as fulcrums by moving the robotic portion 1 in the Y-axis direction or the X-axis direction with the pins 7, 8 being inserted into hole portions 14, 11 formed in the first or second base 12, 10.

Abstract: A system for manipulating a planar substrate such as a semiconductor wafer is provided. The manipulator is typically used in conjunction with an XY stage to focus and planarize a wafer with respect to a tool. The manipulator employs redundant actuators of different types and a control system that uses low-bandwidth, high efficiency actuators to provide low frequency forces and high-bandwidth, but less efficient, actuators to provide all other forces. The manipulator provides support and manipulation of a substrate while minimizing errors due to thermal distortion.

Abstract: A lockable elastic joint for anthropomorphous robot with a wrist and a handling organ, having a first part that is fastenable to the wrist of the robot and a second part that is fastenable to the handling organ of the robot. A first coupling is provided between the parts that is suitable to maintain the same parts at a pre-set distance and on planes parallel to each other and a second coupling is provided between the parts to allow in an elastic way or, as an alternative, to prevent mutual movements of the parts along two directions parallel to the planes of the two parts and perpendicular to each other and around an axis perpendicular to the aforesaid planes. Locking elastic joints may be provided that are suitable to lock the two parts to each other in any position, where one part is decentralized from the other.

Abstract: A robot is disclosed in which load torque imposed on motors is reduced and therefore small-sized motors can be used. In the robot, an arm member, a first link, a second link and a third link constitute a parallel linkage, and the first link and the third link are coaxially pivotally supported on a base. With a pivotal shaft for pivotally connecting the second link and the third link, one end of a fourth link having shorter link length than the link length of the third link is pivotally connected to the second and third links and one end of a fifth link having the same link length as that of the fourth link is pivotally connected to the other end of the fourth link. The other end of the fifth link is pivotally supported on the base with a pivotal shaft to which the rotary shaft of the motor is coupled, so that the fifth link can move according to the rotation of the motor.