Abstract: An apparatus for two dimensional orientation of an object, providing independent inclining and rotational capability while controlling undesired reactive motions is described. Applications for such a device occur in the fields of measuring and controlling instruments, machine tools, robotics, and various other disciplines requiring orienting mechanisms, for example the positioning of cameras, antennas, or telescopes. The apparatus can be constructed from five annular members, two annular gears, a series of mounting members, a constraining device, and two controllable motors for rotation of two of the annular members. The first, second, and fifth annular members include parallel upper and lower mounting planes. The third and fourth annular members each include an identical angle between their upper and lower mounting planes. The first annular member is mounted to a fixed surface with second through fifth annular members rotatably mounted on top of the first and succeeding members.

Abstract: A robot system with robot specific effects comprising multiblocks of nearly the same design, each surrounded with one closed chamber for the accommodation of driving units, basic gears, generator units, basic control electronic for basic units and integrated built-in equipment for overall robot control, combined with multiblocks composed of central chambers and thereof separated socket flange booster chambers. The central chambers, accomodating driving units, basic gears, generator units and basic control electronic for the basic units. The socket flange booster chambers, having nearly the same contour as the central chambers and integrate built-in equipment for overall robot control. The central chambers and the socket booster chambers, connecting the current and communication links between the central chambers and the socket flange booster chambers during the operation for plug in connection of the central chambers with the socket flange booster chambers.

Abstract: A pair of connected joints is provided in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint supported on a member controlled by the first joint imparts force to a member controlled by the second joint at an acute angle. A third joint is used with a flexible drive tape partly internal thereto.

Abstract: The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot.

Abstract: A flexible manipulator is constructed of parallel elements which are layered one over the other along a stacking axis and preferably have at least three bores on the circumference, which are aligned to form a guide arrangement. Projecting sleeves are provided at the bores and extend telescopically into one another from respectively two adjacent elements. Elastic rods are guided through the bores, which rods are fastened at one end of the manipulator and exit freely at the other. The manipulator can be brought into an arbitrary shape through the tension and pressure created by displacing of these rods in a particular manner. In addition, a blocking material is provided in the invention which can lock the sleeves of adjacent elements from movement so that a displacement of a rod will be directed between a different pair of elements. The locking or blocking of the movement of the sleeves can be obtained by utilizing the rotation of the actuating rods.

Abstract: A coordinate positioning machine comprises a fixed structure including a table and a supporting frame (314), rigidly connected together. A moveable arm (310) is suspended from the frame by means of three powered telescopic struts (316), each of which is universally pivotally connected to both the arm and the frame. As a consequence the moveable arm is able to move with three rotational degrees of freedom. Movement of the arm with each of these degrees of freedom is constrained by a passive device (340), connected to the arm and the fixed structure, and which eliminates all rotational movement of the arm, while simultaneously permitting translation thereof.

Abstract: A support arm has stationary support structure, a boom, a knuckle and an auxiliary jib section. The boom connects at one end to the support structure and at an opposite end to one end of the knuckle, and an opposite end of the knuckle connects to one end of the auxiliary jib section. Each connection is a pivotal connection for pivoting about vertical pivot axes. An opposite end of the auxiliary jib section connects to a main jib section through a pivotal connection for pivoting about a horizontal axis. First and second flexible tubes connect across the knuckle and the auxiliary jib section between the boom and the main jib section. The flexible tubes extend from points on the main jib section in parallel horizontally spaced relationship and pass slippingly and in parallel longitudinally through parallel horizontally spaced guide sleeves that are connected on the auxiliary jib section.

Abstract: An arm drive device for an industrial robot comprises a first arm rotatably supported on a supporting body, a second arm rotatably supported at the first arm and, a ball screw having a base portion adapted for rotatably supporting the end portion of a screw element which is rotatably supported at the supporting body. A nut portion is rotatably connected to a member for driving the first arm or the second arm, and a drive motor is provided for rotationally driving the ball screw. The drive motor is disposed at a position shifted but parallel to the center axis of ball screw, and the drive motor and ball screw are connected by a torque transmission means. Accordingly, resonance with frequency in the lower frequency region is prevented, thus making it possible to maintain a high level of locus accuracy of the robot arm.

Abstract: The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot.

Abstract: A robotic arm has a base with a top surface and an aperture therein. A shaft extends up through the aperture, and there is a gap between the shaft and an inner edge of the aperture. A splash guard may extend over said gap, and an indentation in said top surface may at least partially surround the gap. A seal, including a bearing and a barrier, is located in the gap. The bearing allows the inner and outer surfaces to rotate relative to each other. The barrier includes a plurality of annular outward-pointing flanges attached to an inner surface interleaved with a plurality of annular inward-pointing flanges attached to an outer surface. The flanges may be angled and have an upturned lip located at an inner edge of each flange. The seal may include a magnet attached to a flange.

Abstract: A robot having a joint mechanism including a first arm member; a second arm member supported to the first arm member so as to be rotatable about a first axis; a swinging member supported to the second arm member so as to be rotatable about a second axis intersecting the first axis at a bending point, the swinging member having a first connecting portion at a position spaced from the second axis; a power transmitting member supported to the first arm member so as to be rotatable about a third axis orthogonally intersecting the first axis at the bending point, the power transmitting member having a second connecting portion at a position spaced from the third axis, the power transmitting member being connected at the second connecting portion to the first connecting portion of the swinging member so as to be rotatable about a fourth axis intersecting the second axis at the bending point and obliquely intersecting the third axis at the bending point; and a driving motor mounted on the first arm member, for rotat

Abstract: A hollow industrial robot, especially suitable for process work such as spot and arc welding, sealing, painting, glueing, laser machining, etc., has a tubular lower robot arm, the lower end of which is pivotably journalled in a robot stand about a preferably horizontal first axis and is rotatably journalled about a second axis coinciding with the longitudinal axis of the arm. A tubular upper robot arm is articulately connected to the upper end of the lower robot arm via an articulated joint member in the form of a tubular sleeve obliquely cut off at both ends. The articulated joint member is journalled in the lower robot arm and is rotatable about a third axis, which intersects the second axis. The upper robot arm is journalled on the articulated joint member and is rotatable about a fourth axis, which intersects the third axis. The upper end of the lower robot arm is secured to a first conical toothed wheel, which engages with a second conical toothed wheel secured to the rear end of the upper robot arm.

Abstract: An extendible wrist mechanism comprises a base and a spaced end plate to which an end effector or other tool holder may be mounted. Three linear actuators are disposed about the central axis directed from the base to the end plate. Each actuator is joined to the base by a joint permitting pivoting toward and away from the central axis and pivoting tangentially of a circle centered about the central axis. Each linear actuator is mounted to the end plate by a joint permitting pitch, yaw, and roll of the end member with respect to the linear actuator. A tube extends from the base and telescopingly receives a member which is attached to the end plate at the central axis by a U-joint permitting pitch and yaw of the end plate. The base mounted tube is keyed to the end plate mounted member so that the end plate is held against rotation with respect to the base.

Abstract: A robotic device having at least first and second arms joined with an elbow-joint is relatively maintenance-free and is particularly suitable for use in an atmosphere full of vapors from paints or organic solvents. These substances pose considerable operational problems in conventional robotic devices because of the accumulation of dust and solvents, which causes not only degradation in the performance of the robot but requires high maintenance cost. These problems are solved in the present robotic device by housing the driving motor for the second arm within the confines of the cross sectional area of the first arm, and the second arm is coupled through a connector to the output shaft of the driving motor, again within the same confined area. Such a compact design includes side caps providing protection of the feed-through cables and wires, which are routed out of the first shaft inner space to loop around the elbow-joint to enter into the second shaft inner space.

Abstract: A machine tool of the present invention includes a base fixed to an outside fixed portion, a travelling plate to which a tool is to be attached, plural guide portions radially outwardly fixed to the base at a predetermined angle, and plural rods. Each of the plural guide portions is provided with a slide table movable in a longitudinal direction of the guide portion and an actuator for moving the slide table. One end of each rods is connected with one of the slide tables through first joint means and another end of each of the rods is connected to the traveling plate through second joint means.

Abstract: A spatial parallel-architecture robotic Carpal wrist is shown. The structure of the robotic Carpal wrist allows for the application of a closed-form solution to the kinematic problem of determining all of the possible inputs to the actuators that result in a desired end orientation of the distal plate. The robotic Carpal wrist has a structure including a base plate, a distal plate and six equal length links connecting the base plate to the distal plate with the six links being arranged in three chains of two links each and with three actuators being mounted in fixed relationship to the base plate. The three actuators cause the three links connected to the base plate to each pivot with a single degree-of-freedom relative to the base plate. Each of the three chains of links includes a three degree-of-freedom joint between its two links.

Abstract: A mechanical manipulator having actuators therein operating across orthogonal pivot joints formed between pivot connection structures and a link arrangement, and also between these same pivot connection structures and a corresponding effector. The actuators are coupled to effectors to position them as selected by having portions of such actuators coupled to the effectors that are capable of moving toward and away from other portions of such actuators connected to the link structure. The components of the mechanical manipulator, except for portions of the effectors, can be enclosed so as to allow the effectors to move in response to the actuators while excluding foreign matter from the enclosed portion thereof.

Abstract: A joint driving structure for an industrial robot includes a first arm having a box-like end portion, a second arm having a box-like end portion, and a bearing between the end portion of the first arm and the end portion of the second arm. A driving motor is disposed at the end portion of the second arm, the driving motor having a rotational shaft, and a reduction gear mechanism coupled to the rotational shaft and operable to rotationally drive the second arm. The driving motor has a fixing portion, the driving motor further having an opposite-to-load side bracket fixed to the fixing portion of the driving motor. The reduction gear mechanism has a fixing portion fixed to the fixing portion of the drive motor, the reduction gear mechanism having an output portion fixed to the end portion of the first arm.

Abstract: The invention concerns a device for manipulating objects with a gripper or the like, which is connected with a gear unit and drive motor via at least one arm, the arm being provided with at least one hollow shaft, the rotary motion of which being transmissible to a following shaft.

Abstract: A new generation of hybrid form multi-axis machine tools is described. The hybrid machine tools comprise a position mechanism and an orientation mechanism. Both mechanisms are three-DOF parallel mechanisms that can be connected either in series to form a hybrid parallel-serial manipulator, or in parallel to form a cooperating machine. The position mechanism is used for manipulating the position and the orientation mechanism is used for manipulating the orientation of an object. Six-axes machining of a workpiece is achieved by coordinating the motions of the position and orientation mechanisms. This approach has several important advantages. First of all, a high stiffness, low inertia, and high speed machine tool is realized by using the parallel construction. Secondly, its direct and inverse kinematic solutions could be solved in closed forms which would greatly simplify the control and path planning problems. Thirdly, it has a relatively large workspace in comparison to fully parallel platform manipulators.

Abstract: An industrial robot is provided with a plurality of elements articulated to each other, whose rotation is driven by respective electric motors by reduction gear units which are integrated in the structure of these elements.

Abstract: A new class of coplanar two-axis angular effectors. These effectors combine a two-axis rotational joint analogous to a Cardan joint with linear actuators in a manner to produce a wider range of rotational motion about both axes defined by the joint. This new class of effectors also allows design of robotic manipulators having very high strength and efficiency. These effectors are particularly suited for remote operation in unknown surroundings, because of their extraordinary versatility. An immediate application is to the problems which arise in nuclear waste remediation.

Abstract: An articulated industrial robot provided with a reference position setting means which includes two positioning contact parts 22 and 24, and the reference position setting means is provided for each joint 16 of a robot unit 10 in such a manner that the positioning contact parts 22 and 24 are brought into contact with each other so as to perform determination of a geometrical reference position for each joint drive source after the replacement of a defective drive motor or a defective reduction gear of the joint drive source. The determined geometrical reference position regarding each of the joint axes are stored in the robot controller to thereby achieve a single-axis mastering,and thus the reference position setting means simplifies single-axis mastering with respect to each joint axis of the robot unit without being subject to any spatial restrictions.

Abstract: A base support for a moveable object, particularly an amusement ride employing a stepping motor and stepping motor controller to move the object in fine increments. The base support is attached to an upstanding mounting member. An amusement ride is attached to a first support structure connected to a base member. The support structure is operatively connected to a worm gear assembly and motor driven worm gear disposed between the base member and the support structure to effect movement of the amusement ride about a predetermined axis. The worm gear is driven by a stepping motor. The stepping motor is controlled by a stepping motor controller to control incremental movement of the amusement ride. A second worm gear assembly can be interposed transversely between the first support structure and a second support structure to effect movements of the antenna about a horizontal axis.

Abstract: A pivotal robot arm is disclosed which includes a support body, at least one pivot arm and a working device that is provided at the outer end of the pivot arm. The pivotal robot arm is characterized in that the support body and/or at least one pivot arm and/or the housing of the working device are each composed of at least one extruded profile that extends in the direction of the articulation axes.

Abstract: A two-degree-of-freedom spherical shoulder joint for a robot. The joint consists of a spherical ball member with gear teeth formed in its outer surface and three drive gears that mate with the gear teeth in the outer surface of the spherical member. The joint can rotate about any axis of rotation which lies within a plane defined by the contact points between the drive gears and the spherical member. By controlling the three drive gears to rotate by the proper amounts, the joint can be rotated about the desired axis of rotation. The inverse kinematics for controlling the joint are described.

Abstract: The subject invention provides a modular, expandable and reconfigurable robotic system. In one aspect of the invention there is provided a robot having at least two manipulators each having several compact rotary joints. The rotary joints have one input coupling and either one or two output couplings. Each joint is modular including a d.c. brushless motor coupled with a harmonic cup drive and includes position, velocity and torque sensors. Each manipulator may be disassembled and reassembled to assume a multitude of configurations. In another aspect of the invention there is provided an expandable and modular real-time computer control system for controlling the robot. The computer architecture achieves between 5 to 10 MFLOPS with reduced instruction set computing (RISC) processor nodes and a fast point-to-point communication network. Each node includes a host computer and parallel input/output (I/O) modules as well.

Abstract: A clean robot capable of a linear conveying motion comprises a base, a first arm rotatably supported by the base, a second arm rotatably supported by the first arm, and a third arm rotatably supported by the second arm. Also provided are a first driving unit for rotating the first arm with respect to the base in a first rotational direction at a first angular velocity, a second driving unit for rotating the second arm with respect to the first arm in a second rotational direction reverse to the first rotational direction at a doubled angular velocity of the first angular velocity, and a third driving unit for rotating the third arm with respect to the second arm in the first rotational direction at the first angular velocity.

Abstract: A micromotion stage comprises a stationary plate and a moving plate connected by six links each consisting of a stacked piezoelectric element serving as an actuator, a holder fixed at one end of the stacked piezoelectric element, a capacitance type displacement gage retained by the holder and a target member fixed at the other end of the stacked piezoelectric element to have a part thereof face a tip portion of the capacitance type displacement gage across a small gap. Change in the distance between the holder and the target member caused by expansion or contraction of the stacked piezoelectric element and indicative of a change in the link stroke can be detected by the capacitance type displacement gage.

Abstract: The process comprises the steps of creating three reference points at an object and taking a tomogram of the object such that the three reference points define a first set of positional data in the tomogram. The object is then non-rigidly placed on a support for operation thereupon by an instrument which is mounted at a flexible arm containing sensors for sensing the movements of an instrument tip. The instrument tip is placed at the three reference points in order to create a second set of positional data which are in a fixed relationship to the first set of positional data. When the instrument is inserted into the object placed on the support, the positional data of the instrument tip during the insertion movement are sensed and related to the first set of positional data via the fixed relationship between the first and second sets of positional data.

Abstract: A compliancy joint for a robot has six degrees of compliancy freedom and comprises a housing having an inner ring. A float block is movably disposed in the interior of the housing and a plurality of circumferentially arranged pneumatic cylinders on the housing apply force circumferentially to the float block. Sensors are used to detect when the float block is near its compliancy limit and a controller is operatively connected to the sensors and the cylinders for preventing the float block from reaching its compliancy limit. This joint is able to break away from the robot should the robot exceed the device's compliancy limit, preventing damage to the robot and robot end of arm tooling.

Abstract: A micromanipulator comprises a pair of hand modules each of which includes a circular base plate with three connection points, an end-effector consisting of a circular moving plate and a finger attached to the moving plate, the moving plate being disposed above the base plate and having three connection points offset 60 degrees from those of the base plate, six metal links disposed between the base plate and the moving plate, six actuators provided on the six metal links for extending and contracting them, six first metal wire members connected between one end of the six metal links and the three connection points of the base plate so that two wire members are connected with each connection point of the base plate to be inclined in opposite directions, and six second metal wire members connected between the other end of the metal links and the three connection points of the moving plate so that two wire members are connected with each connection point of the moving plate to be inclined in opposite directions.

Abstract: A terminal device is described which is attachable to the end of a prosthesis on an arm and there serves as an attachment site for a variety of tools or implements designed to mate with the terminal device. The terminal device comprises a first main part in operable and pivotal combination with a second main part, the combined main parts providing on one end a device for attaching to the end of an arm prosthesis, and on the other a device for attaching a variety of implements, the said device for implement attachment providing articulation capabilities that allow positioning of the implements in a variety of positions relative to the position of the arm prosthesis.

Abstract: An arm mechanism to be operated at a proximal location to move a tool at a distal location. The arm mechanism includes an outer series of links and an inner series of links. Each series of links are connected together in an engaging relationship and in an in-line relationship with the outer series of links being pivotally mounted on the inner series of links. The arm mechanism is capable of being moved through almost three hundred and sixty degrees with the tool being movable in precise increments.

Abstract: A powered material handling apparatus or lift provides for the movement and positioning of large, heavy and/or bulky objects using six degrees of freedom of motion. The lift may be used for the handling of virtually any such materials, but is especially suited for the handling of such objects as jet aircraft engines and aircraft external stores. The lift may be remotely operated by a hand controller which is mechanically arranged in the same manner as that of the lift, through a power supply and servo device. Feedback may be provided to the hand controller by the power supply and servo device, thus enabling the operator of the control to sense the forces occurring at the lift as it is actuated. Additionally, provision is made for the recording of a history of the forces, torques and linear actuation of the struts of the apparatus in the event of some subsequent question regarding a particular operation.

Abstract: An anatomically correct, humanlike, mechanical arm and hand is provided that an operator can control to perform with the dexterity and compliance of a human hand. Being humanlike and robotic enhances the device's control and gripper dexterity. Control of the movement of the arm and hand is performed or guided by a "teachglove" worn by the operator. As he or she performs some hand manipulation, a controller stores signals from sensors on the exoskeleton. The sensors monitor the operator's finger-joint movement positions. These values are later translated into actuator control signals for servomotors, eventually duplicating the operator's movement.

Abstract: A micromotion stage comprises a stationary plate and a moving plate connected by six links each consisting of a stacked piezoelectric element serving as an actuator, a holder fixed at one end of the stacked piezoelectric element, a capacitance type displacement gage retained by the holder and a target member fixed at the other end of the stacked piezoelectric element to have a part thereof face a tip portion of the capacitance type displacement gage across a small gap. Change in the distance between the holder and the target member caused by expansion or contraction of the stacked piezoelectric element and indicative of a change in the link stroke can be detected by the capacitance type displacement gage.

Abstract: A robot apparatus includes a robot arm, a robot hand, an electrical/electronic device mounted on the robot hand for operating the robot hand, and a hand attaching/detaching device, arranged between the robot arm and the robot hand, for detachably mounting the robot hand on the robot arm. A signal transmission path, is connected to an external robot controller at one end thereof and to the electrical/electronic device at the other end thereof, extends through the hand attaching/detaching device, and is able to be disconnected between the robot hand side and the robot arm side in the hand attaching/detaching device.

Abstract: A spherical motor (10) provides smooth isotropic motion. The spherical motor (10) has a spherical stator (12) surrounding a spherical rotor (18). A motor shaft (24) is mounted to the rotor (18), or alternatively, to the stator (12) for performing work in isotropic motion. A grid pattern is situated to move substantially concentrically with the rotor (18) and in conjunction with the motor shaft (24). A vision system (80) monitors the grid pattern (42) and determines in real time the position of the motor shaft (24). The vision system (80) has at least one image sensor (44) positioned on the stator (12) and a computer system (82) for processing data independent of a remote host computer (122). Further, a motor controller (191) using a motor control algorithm (200) may be interfaced with the vision system (80) to thereby derive a motor control system (190) for controlling the spherical motor (10) based upon the rotor orientation information retrieved by the vision system (80).

Abstract: This invention reveals improvements in a flexible robotic limb which can function as a robotic snake. These improvements are particularly pertinent to miniaturization applications such as catheters or positioners for microsurgery, micro-assembly, micro-manipulation, or micro-exploration. This invention developes detailed new component designs, and it combines the basic structure with systems for sensing, control, and signal transmission. These systems include pressure sensors, length sensors, protective skins, ultrasonic imagers, cutting tools, and multiplexing schemes.

Abstract: A joint of a hydraulic manipulator connects two hollow arm members and includes two indirect linkage members arranged to provide increased scope for the joint. Hydraulic hoses or cables extend through the hollow arm members, so as to be protected, and along a route which intersects the centre axis of the joint so they are not stretched as the joint bends.

Abstract: A platform is mounted by bellows, at least one for each degree of freedom (DOF) of the platform. The bellows may provide either an active or a passive mounting for the platform. By arranging a suitable number of such bellows in supporting relationship a platform or floater for example six degrees freedom can be provided. Using pneumatic bellows in opposed pairs, one pair for each degree of freedom and by controlling the pressure in (and flow to) the bellows selected forces may be applied to the platform to accurately position the platform or to provide feedback for a sensory control e.g. as reflected force applied to the joystick. The position and orientation of the platform, i.e. movement of the platform, may be used to generate signals for example as in a joystick. Sensing the pressure in each of the bellows of each of the pairs permits the forces being applied by or to the platform to be monitored.

Abstract: An actuator module for inducing the relative motion of robot members joined in a robot joint includes a Ferguson epicyclic gear train, integral motor and integrated control means. The gear train comprises a plurality of base gears connected to the robot members and a plurality of planet gear carriers, each planet gear carrier having a plurality of planet gears rotatably mounted therein. A motor integrated with certain gear train components induces the rotation of the planet gear carriers about or within the base gears. Because of the Ferguson paradox, this induces the motion of base gears connected to one robot member relative to those connected to the other robot member, which in turn causes the relative motion of the robot members. The actuator module can be configured as dual substantially symmetric systems and may comprise multiple stages of epicyclic gearing.

Abstract: A transfer apparatus for transferring a semiconductor wafer has a base provided with a rotary driving source, and four arms having the same length. A first inner arm has an end fixed to the rotary driving shaft, and the other end fixed to a first coupling shaft. A second inner arm has an end supported by the base such that it can rotate about a pivotal point, and the other end is rotatably connected to a second coupling shaft. A transmission mechanism is provided between the first and second coupling shafts. A first outer arm has an end rotatably connected to the first coupling shaft, and a second outer arm has an end fixed to the second coupling shaft. The other ends of the first and second outer arms are rotatably connected to a supporting plate having a wafer-holding portion. The four arms are arranged so as to have a link structure in the form of a parallelogram, which enables linear transfer of a wafer.

Abstract: A connective joint comprises the following seven elements:(a) Four quarter spheres arranged in adjacent quadrant relationship to form a substantially spherical element or "ball". The quarter spheres are provided with grooved edges that form two substantially perpendicular grooves extending around the spherical element;(b) Two hinge elements, each having a ring shaped portion that is inserted in an individual one of the two grooves;(c) A device for applying a force between two diametrically opposing ones of the quarter spheres in the spherical element.

Abstract: A motorized rotary joint for robots integrates a joint bearing with a power transmission, such as a planetary type speed reducer, and provides a large central hole for passing electric and service lines therethrough. The rotary joint includes a built-in rotor and stator arrangement within the same joint housing structure, thus allowing the electric motor to share the same bearings and housing structure with the speed reducer. Preferably, the rotor also carries planets of the reducer and the stator is either integral or coupled to a housing of the reducer. The rotary joint also accommodates an encoder, a circuit board having electronic components thereon and a built-in brake to provide a totally integrated, intelligent rotary joint. A method for constructing a modular robot using the rotary joint is also provided, wherein several such rotary joints are coupled to simple structural elements by means of bolted interfaces to construct a multi-joint robot of an articulated structure.

Abstract: An apparatus (10) for the location and removal of foreign objects from a difficult to access geometry utilizes a flexible lance (12) formed of individual hose bar segments (14) strung on cables (16) to give a structure that is flexible along its length and fairly rigid in a direction transverse to its length. Extending from working channels (18) of nozzle block (20) of the lance (12) are a pair of multi-prong retrievers (22). A miniaturized Videoprobe camera (24) is provided in the nozzle block (20) between the two retrievers (22). The retrievers are each connected to an actuating cable (26), which extends through the flexible lance (12) to a manual control (28). The camera (24) is connected by a cable (30) to suitable video processing circuits for generation of images on a video display (32). The cable (30) also houses a fiber optic bundle which conveys light to the area being serviced by the lance (12).

Abstract: A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant.

Abstract: A two-axis motion mechanism with reduced backlash includes two-axis motion that is transferred between a moveable member and a first and second shaft positioned orthogonal to each other through three principle bearings. The first and second shaft are fixedly positioned so as to constrain motion except about a first and second axis therethrough, respectively. The second axis is substantially orthogonal to the first axis intersecting at the center of the mechanism. An outer ring, having the moveable member connected thereto and an inside ring nested therein lies in a plane transverse to the second shaft. Pins connect the outer ring with the inside ring. A case member is positioned about the outer ring with the first shaft mounted thereto. First duplex bearings couple the inside ring to a rod extending across the inside ring and connected to the second shaft at the center of the mechanism. The first duplex bearings allow rotation of the inside ring and the first axis.

Abstract: A spot welding robot including a base and an arm assembly mounted on the base. The arm assembly includes a lower arm mounted at a lower end on the base for a swingable movement about a substantially horizontal first axis, a swingable member mounted on the lower arm at an upper end portion of the lower arm for a swingable movement about a second axis which is parallel with the first axis, and an upper arm mounted at one end portion on the swingable member for a swingable movement about a third axis which is perpendicular to the second axis. The swingable member has a portion extending in a direction opposite to the direction in which the upper arm extends. A driving motor is provided on the swingable member for driving the upper arm to produce the swingable movement of the upper arm about the third axis.