Abstract: A method and apparatus for providing motor vehicle sub-assemblies with unrestricted model mix and quick changeover between models. The apparatus includes a track; a carriage mounted for longitudinal movement along the track between first and second positions; and first and second turrets rotatably mounted on the carriage at longitudinally spaced locations and each including a plurality of circumferentially spaced individual faces and unique tooling fixtures on the respective faces for receiving unique work piece components corresponding to a plurality of motor vehicle body styles.

Abstract: A method and apparatus for automatically assembling a clutch of an automatic transmission of a motor vehicle. The method and apparatus includes providing an assembly station having an assembly table with a clutch fixture connected to the assembly table and adaptable to receive a clutch housing. At least one tray is connected to the assembly table and is adaptable to receive clutch components of the clutch. At least one robotic arm is engageable with the clutch housing and the clutch components for loading and unloading the clutch housing onto and from the clutch fixture and the clutch components from at least one tray. A manipulator connected to and in communication with the at least one robotic arm automatically engages an appropriate tool for assembling the clutch components into the clutch housing. At least one assembly fixture is removably connected to the clutch fixture and connectable to the clutch housing for assisting in the assembly of the clutch components to the clutch housing.

Abstract: This machine generally is an apparatus for preparing rolls of previously wound material for an unwinding machine. More particularly industrial robots are used to improve the apparatus onto which rolls of sheet form material and the like can be loaded in preparation for unwinding and then, when a previously loaded roll has been unwound, disposing of the remaining core. The robots are programmable robots including a means for engaging the transfer plug and placing the plug into the tubular core of a large roll.

Abstract: This robot system includes a robot, a laser emitting portion moved by the robot, emitting a laser beam to a target workpiece, and a control portion controlling the laser emitting portion to emit the laser beam on the basis of information regarding an arbitrarily-shaped work locus and movement information of the laser emitting portion.

Abstract: An autonomous moving floor-treating robot and a control method thereof for edge-following floor-treating are provided.

Abstract: A plug for a tubular service entrance of a conduit, wherein the plug includes a core body having a central hollow channel extending from a first end to second end of the core body; at least one flexible fin extending radially outwardly from the core body and having an outer diameter greater than the inner diameter of the tubular service entrance so that the plug is adapted to fit tightly into the tubular service entrance, and wherein the at least one flexible fin is deformable to adapt to the shape of the service entrance and apply a lateral force against the inner diameter of the service entrance. A plug dispensing magazine for storing and dispensing service entrance plugs to be service entrances of a conduit prior to installation of a liner in the conduit and a method of sealing the service entrances.

Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

Abstract: A device for constructing an assembly of building components includes an articulating arm unit and a gripper/nailer mounted on an end of the articulating arm unit. The gripper/nailer includes a gripping unit for grasping building components and positioning them in a predetermined arrangement and a nailing unit for inserting a fastener to secure the building components together.

Abstract: An automated tool change assembly and method for automatically coupling a robotic end effector to a robotic manipulator. The automated tool change assembly of the present invention provides first and second light-weight mechanical joint members for automated coupling to provide a rigid connection that can include an electrical connection to pass power and signals between the end effector and the manipulator. The connection can also have full pass-through mechanical power. The assembly also includes a tool station for docking an end effector. The tool station can also provide a platform to align tools with manipulators in forming the automatic connection between joint members. The tool station also provides a release bar for manually releasing end effectors from manipulators. Software scripts can connect and disconnect the tool change assembly remotely when attached to a robot.

Abstract: An approach is provided for an automated patch panel. A command is received to change a connection state of an optic patch cord. A robotic arm is controlled to change the connection state of the optic patch cord with respect to a particular port of a plurality of ports disposed about a disk-shaped face of a docking panel.

Abstract: A climbing robot for travelling over adhesive surfaces with endless traction mechanisms (14) and, fastened to them at a distance, controllable adhesive feet (21) that circulate with the endless traction mechanisms (14) along guides (17) in the travel plane, by means of which the adhesive sides of their adhesive elements (15) always point towards the travel surface and wherein the adhesive elements (15) that support and move the climbing robot are switched “ON” and lowered onto the adhesive surface and all of the other adhesive elements (15) are switched “OFF” and raised from the adhesive surface, wherein the climbing robot has square running gear (11), one foot plate (13) each with a guide (17) running around the edges for a multitude of adhesive feet (21) driven by traction mechanisms is arranged in two diagonally opposite corner areas (18) of the running gear (11), wherein the foot plates (13) are attached to a support bar (12) of the running gear (11) and the adhesive feet (21) and therefore their adhesive

Abstract: A programmable steerable robot, particularly useful for cleaning swimming pools, includes: a body member; a first ground-engaging rotary propelling device at one side of the body member; a second ground-engaging rotary propelling device at an opposite side of the body member; a rotary brush carried by the body member engageable with walls of the swimming pool for cleaning same; a drive for driving both of the rotary propelling devices and the rotary brush; a transmission system connecting the drive to both of the rotary propelling devices and the rotary brush; and a programming device controlling the transmission system such that, for preselected travel intervals, both rotary propelling devices are driven in the same direction to propel the body member along a linear path, and for other preselected time intervals, the rotary propelling devices are controlled such that the body member is propelled along a different path.

Abstract: Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element.

Abstract: A method for verifying completion of a task is provided. In various embodiments, the method includes obtaining location coordinates of at least one location sensor within a work cell. The at least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. The method additionally includes, generating a virtual object locus based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. The method further includes, identifying one of a plurality of candidate features as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.

Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.

Abstract: The invention relates to a device for casting components preferably made of light metal, according to the tilt-casting principle, having a casting mold that can be tilted about its longitudinal axis, a casting channel that is disposed on the casting mold, in the longitudinal direction of the latter, the longitudinal side of which, facing the casting mold, has at least two outlets to the mold cavity, or at least one outlet, in each instance, to at least two mold cavities that are disposed next to one another and do not stand in a flow connection with one another. The casting channel has a subdivision device that is configured in such a manner that when the casting mold, together with the casting channel, is tilted, predetermined volumes of the casting melt flow through the outlets.

Abstract: A device for constructing an assembly of building components includes an articulating arm unit and a gripper/nailer mounted on an end of the articulating arm unit. The gripper/nailer includes a gripping unit for grasping building components and positioning them in a predetermined arrangement and a nailing unit for inserting a fastener to secure the building components together.

Abstract: A percussive digging tool attachment for a small robotic platform employs a percussor module for applying percussive impulses of relatively low impact at relatively high frequency to an attached digging tool to dig into or break up soil and rocks. By using low-impact, high-frequency percussive forces, it reduces the reaction loads on the small robotic platform while providing increased capability.

Abstract: The present invention provides a method, system and apparatus for robotic refuelling of satellites. The system may include a dedicated refuelling satellite launched directly from either earth, or alternatively it could be launched from another larger mother spacecraft or space station in which the refuelling satellite is ferried into space in the case of the larger space craft or it may be stored on the space station until needed from which it can be launched. The system includes a robotic arm, suitable tools which can be affixed to the end effector of the robotic arm required for accessing, opening and closing the fuel fill valve on the satellite being serviced, storage and retrieval stations on a tool caddy on which the tools and various fuel fill valve caps are stored. The system is under teleoperation by a remotely located operator, for example located on earth, in the mother station or in the space station.

Abstract: Methods and apparatus for removing condensed metal from the surfaces of metal processing chambers, such as, a vacuum induction metal (VIM) furnaces having, for example, condensed Mg or Ti, are disclosed. The methods and apparatus provide a robotic arm end positioned in the furnace having a nozzle operatively connected to a source of dry ice. The robotic arm end directs a stream of dry ice particles against the surface of the furnace to displace condensed metal. The displaced metal is collected for reuse or disposal. Aspects of the invention provide a safe and automated process for cleaning process chambers and recovering metal that can typically be dangerous when performed by conventional methods.

Abstract: An automobile run channel fitting device for fitting a run channel into an automobile door sash comprising a pair of robot arms 1 and 2 which act in harmony and a run channel fitting jig 3 attached to each robot arm, wherein the run channel fitting jig 3 comprises an upper roller unit 12 adapted to push the run channel to fit it into an upper sash, a rotatable lower roller 14 adapted to push the run channel to fit it into a lower sash, and a lower roller supporting means 15 adapted to support the lower roller 14 and insert the lower roller 14 into a gap formed between an inner panel and an outer panel. The lower roller supporting means 15 comprises a sliding mechanism 17, a bending section 18 and a roller supporting section 19.

Abstract: In a simultaneous multi-axis measuring machine tool system including linear drive axes and rotation axes to measure a surface shape of an object to be measured by using an on-board measuring device having a probe mounted, at one end thereof, with a spherical contactor, a numerical controller controls driving of the linear drive axes and the rotation axes so that a central axis of the probe is always oriented in a direction perpendicular to the surface of the object to be measured and that the spherical contactor of the probe comes in contact with and follows a surface of the object to be measured.

Abstract: A robotic system for steerable tip endoscopes includes a support arm, an endoscope gripping assembly rotatably connected to the support arm by a rotation assembly, and a translation assembly operatively connected to the support arm. The endoscope gripping assembly is configured to grip any one of a plurality of differently structured endoscopes, the translation assembly is configured to move the support arm along a linear direction to thereby move an endoscope when held by the endoscope gripping assembly along an axial direction, and the rotation assembly is configured to rotate the endoscope along a longitudinal axis of rotation.

Abstract: A remote controlled work robot including a remote controlled actuator and a support device therefor. The remote controlled actuator includes a spindle guide section of an elongated configuration, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling structure for alteration in attitude, and a drive unit housing connected with a base end of the spindle guide section. The distal end member rotatably supports a spindle for holding a tool. The support device includes a single degree-of-freedom system, in which the remote controlled actuator has a degree of freedom in one direction, or a multi-degrees-of-freedom system, in which the remote controlled actuator has a two or more degrees of freedom relative to a base on which the support device is installed. A drive source and is also provided for driving the degree-of-freedom system.

Abstract: The present disclosure includes biomarkers, methods, devices, reagents, systems, and kits for the detection and diagnosis of cancer generally and pancreatic cancer specifically. In one aspect, the disclosure provides biomarkers that can be used alone or in various combinations to diagnose cancer generally or pancreatic cancer specifically. In another aspect, methods are provided for diagnosing pancreatic cancer in an individual, where the methods include detecting, in a biological sample from an individual, at least one biomarker value corresponding to at least one biomarker selected from the group of biomarkers provided in Table 1, wherein the individual is classified as having pancreatic cancer, or the likelihood of the individual having pancreatic cancer is determined, based on the at least one biomarker value.

Abstract: An apparatus for stripping metal from a cathode plate, the apparatus comprising stripping means adapted for positioning between the metal and the cathode plate in order to separate the metal from the cathode plate, and wherein movement of the stripping means is achieved through movement of a robotic arm.

Abstract: Method for machining a metal component which has a three-dimensional shape produced by removing and/or shaping material, wherein one or more superior component sections are electrochemically finish-machined by means of a nozzle-like cathode, via which an electrolyte is delivered into the working region, and wherein the cathode or the metal component is moved freely in space by means of a manipulator element.

Abstract: A bending device that bends a workpiece is provided with a bending mechanism that bends the workpiece, a fixing table on which a chuck mechanism that grips the workpiece is mounted, an articulated robot to which the bending mechanism is attached, and a control unit that controls operations of the bending mechanism, the chuck mechanism, and the articulated robot. The control unit includes a first control unit that twists the bending mechanism around a longitudinal axis of the workpiece, and a second control unit that controls the articulated robot to twist the bending mechanism holding the workpiece around the longitudinal axis of the workpiece within a twisting angle range and then causes the first control unit to perform the twisting.

Abstract: A chuck mechanism that grips a workpiece is configured to be able to twist and rotate the gripped workpiece around a longitudinal axis of the workpiece. A control unit is provided with a first control unit and a second control unit. The first control unit drives an articulated robot to which a bending mechanism for bending the workpiece is attached, and twists the workpiece clamped by the bending mechanism around the longitudinal axis of the workpiece within a preset twisting angle range. When the angle of twisting by the first control unit exceeds the twisting angle range, the second control unit controls the chuck mechanism to twist the workpiece around the longitudinal axis of the workpiece.

Abstract: An automatic process for the identification and working of defects (12) on used tyres (6) is disclosed, comprising the steps of assembling the used tyre (6) on rotative support and centring means (7), starting the rotation of the tyre (6), automatic scanning of the working surface (30) of the tyre (6) to identify the morphology of defects (12) by means of automatic identification means (8, 41) of defects (12), comparison between the morphology of the defect (12) identified and a virtual library of defects (12?) of reference for the selection of the working and of the tool (9) to be used, charging the tool (9) chosen on an anthropomorphic robot (31), and executing the selected working on the defect (12) to form a crater (13) that is suitable for being coated, said steps being managed by a computerized control unit (11) comprising said virtual library of defects (12?).

Abstract: A bending device is provided with a bending mechanism, a fixing table, an articulated robot, and a control unit. Control performed by the control unit includes a bending/movement control in which a workpiece is moved by clamping the workpiece by the bending mechanism and moving the bending mechanism by the articulated robot, and the workpiece is bent by the bending mechanism while the workpiece is being moved.

Abstract: An oligonucleotide spotting robot for spotting oligonucleotide probes into a microfluidic device having a digital memory for data related to the oligonucleotide probes loaded into the microfluidic device, the oligonucleotide dispensing robot having an array of reservoirs for containing the oligonucleotide probes suspended in a liquid, an array of ejectors, each of the ejectors being configured for fluid communication with a corresponding one of the reservoirs respectively, a mounting surface for detachably mounting the microfluidic device for movement relative to the ejectors, and, a control processor for operative control of the ejectors and the mounting surface, wherein, the control processor is configured to activate the ejectors, move the ejectors selected for activation into registration with the microfluidic device and download the data to the digital memory.

Abstract: A robotic system for spotting oligonucleotides having an oligonucleotide spotting device for contactless spotting of oligonucleotides onto a surface, the oligonucleotide spotting device having an array of ejectors, each having a drop ejection actuator for ejecting droplets of liquid containing the oligonucleotides onto a surface, at least one reservoir in fluid communication with one or more of the ejectors and CMOS drive circuitry for providing each of the drop ejection actuators with a drive pulse for droplet ejection, and, an apparatus for loading oligonucleotides into the oligonucleotide spotting device, the apparatus having a stage for detachably mounting a plurality of the oligonucleotide spotting devices, and a plurality of oligonucleotide containers mounted for movement relative to the stage, each of the oligonucleotide containers having a droplet dispenser for ejecting droplets of fluid containing oligonucleotides into the reservoirs of the oligonucleotide spotting devices.

Abstract: An oligonucleotide spotting robot for spotting oligonucleotide probes onto a substrate, the oligonucleotide dispensing robot having an array of reservoirs for containing the oligonucleotide probes suspended in a liquid, an array of ejectors, each of the ejectors being configured for fluid communication with a corresponding one of the reservoirs respectively, a mounting surface for detachably mounting the substrate for movement relative to the ejectors, and, a control processor for operative control of the ejectors and the mounting surface, wherein, the array of ejectors is configured to spot the probes onto the surface at a density more than 1 probe spot per square millimeter.

Abstract: The different illustrative embodiments provide a method and system for watering plants. A map of an area is received and a determination is made using a processing unit as to whether the area needs water. If the area needs water, current constraints are identified and a determination is made using the processing system as to whether the current constraints allow for watering. If the current constraints allow for watering, a watering solution application plan is generated using the processing system, and the watering solution application plan is executed using a mobile utility vehicle.

Abstract: A method is used for controlling a paced production line for processing airplane structural components, wherein the production line comprises at least one workstation having at least one processing machine. It is provided that the processing sequence in the workstation is determined for a production step by determining the expected or actual occupation of the working area by structural component(s) or structural component section(s) for the production step, and, on the basis of the occupation, all of the operations to be performed in this workstation in this production step are determined, and the processing sequence of these operations is optimized.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract: A robot gripper block is provided that facilitates the simultaneous attached of robot deployed tools to a plurality of distinct robot platforms having robot grippers with opposing moveable fingers. The block includes a plurality of parallel cylindrical sockets passing through the block to accept the complementary cylindrical bars of the robot deployed tools. A set pin is inserted through the block and tools to secure the tools in the block. Running along the faces of the block and arranged in pairs are channels sixed and shaped to complement the fingers of the robot grippers. Each set of channels is arranged for a given robot gripper.

Abstract: The present invention is characterized by arranging a flow path 200 for supplying driving gas to a tool mounting portion 170 from a robot base 110 to the tool mounting portion 170 through the interiors of a rotation frame 120, a tube 220, a shoulder 140, a swing arm 150 and a tool mounting rotation arm 160.

Abstract: An automated pallet inspection and repair apparatus comprises an inspection station and a repair station. The inspection station comprises a laser that illuminates a pallet, a camera that collects the reflected light and a computer system. The computer system analyses the output of the camera and acquires the pallet's geometry and topography. The design of the pallet is determined by the computer software. A decision to repair the pallet is made by comparing acquired pallet data against the design criteria. If the pallet needs repair, a recipe of repair steps is constructed by inspecting each of the pallet's elements. The recipe is transmitted to the automated repair station.

Abstract: An end-of-arm tool having a workpiece interface tool is attachable to an articulable robotic arm. The end-of-arm tool can be configured by engaging an adjustable modular unit including a swing arm, a cylinder, and a workpiece interface tool to a rail element of the end-of-arm tool. The adjustable modular unit machine-slides in the rail element to a preferred x-axis position, machine-pivots to a preferred angular orientation, and machine-extends along a longitudinal axis of the cylinder to a preferred z-axis position, and machine-rotates to a preferred rotational angle about the z-axis.

Abstract: A configurable end-of-arm tool attachable to an articulable robotic arm is described. The end-of-arm tool comprises a rail element, a machine-adjustable swing arm, a machine-adjustable extendable shaft attached to the swing arm. A machine-adjustable rotator set is attached to the extendable shaft, and a workpiece interface tool is attached to the extendable shaft. The swing arm, the extendable shaft, and the rotator set are machine-adjustable to place the workpiece interface tool at a predetermined position.

Abstract: An apparatus and method is provided for hemming together a pair of panels and immediately sealing the hemmed joint against the intrusion of moisture. A tool mount is attached to a multi-axis manipulator such as a robot for moving the tool mount along the edge portions of the panels. A hemming roller is mounted on the tool mount and adapted to be moved along the edge portions of the panels by the multi axis manipulator to fold the flanged edge portion of the outer panel onto the edge portion of inner panel as the tool mount traverses the edge portions of the panels. A sealing mechanism is mounted on the tool mount adjacent to the hemming roller to seal the hemmed joint immediately after the flanged edge portion is folded onto the inner panel. The sealing mechanism may be a dispenser of adhesive sealer or a friction stir welder.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract: A method for modifying a component may comprise measuring the component using a modifying tool, and recording position data for the component based on the measuring. A path for the modifying tool may be provided using the position data, and the component may be modified by moving the same modifying tool based on the provided path.

Abstract: The present invention discloses an angle adjusting structure for a Cartesian robot arm, comprising an angle adjusting element, a base, and a clamp. A motor transmission unit is disposed on the base, and an upper pulley, a lower pulley and a driving wheel are disposed on the base adjacent to the angle adjusting element. The driving wheel is connected to the motor transmission unit. The upper and lower pulleys clamp the angle adjusting element, and a drive belt is wound around peripheries of the upper pulley and the driving wheel. The clamp is secured to a face of the angle adjusting element opposite to the base, and a glue dispensing needle is disposed at one end of the clamp. The motor transmission unit rotates the driving wheel to drive the drive belt, so that the angle adjusting element is displaced and thus to change a glue dispensing angle.

Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.

Abstract: An apparatus and method for shaving the inside of barrels. The invention relates to reconditioning used wine barrels by shaving the inside surface to a predetermined depth, ready for re-crozering, toasting, and re-use. Conventional shaving methods typically involve routing the internal surface by hand, but this technique is problematic in that it is a very slow process, the quality of the wood is often adversely affected, and there is no way of ensuring that the surface will be shaved to the same depth across the entire surface. The resultant internal dimensions of the barrel are not reflective, relatively, of the original barrel surface. The invention includes a scanning device to scan the internal dimensions of the barrel, and a cutting device to shave the internal surface to a predetermined depth relative to the scanned internal dimensions and where the scanning device and the cutting device may be supported by different robotic arms.

Abstract: A master interface and a driving method for a surgical robot are disclosed. The master interface is mounted on a master robot, to manipulate a slave robot connected with the master robot, and includes: a main handle coupled to the master robot; a sub-handle coupled to the main handle; a first processor configured to generate a first signal in correspondence with user manipulation on the main handle; and a second processor configured to generate a second signal in correspondence with user manipulation on the sub-handle, where the first signal and the second signal are transmitted to the slave robot independently. As the interface for the surgical master robot includes not only the handle (main handle) for manipulating the robot arm, but also an additional controller (sub-handle) for a laparoscope, etc., the operator is able to simultaneously manipulate the laparoscope, etc., while manipulating the handle, without having to stop manipulating the handle or perform an additional action separately.

Abstract: A system and method for trimming flash from the body of a workpiece. The system uses a laser system and a vision system to determine quickly a cut line for removing flash from the workpiece. The method includes the steps of projecting a line of light onto the workpiece that crosses the flash and the body and determining the profile of the line in an image obtained by a vision system. The system and method are capable of dynamically trimming while determining where to cut the flash from the body of the workpiece.