Abstract: A vehicle framing system for framing an automotive vehicle body from a plurality of separate body components wherein the body components each include a reference surface. The system includes an assembly station having spaced-apart frame members positioned so that, when a vehicle carrier supporting the vehicle body components is positioned at the assembly station, the frame members extend along opposite sides of the vehicle carrier. At least two docking stations are secured to each frame member at predetermined locations. A robot mounts its associated tool arm with a docking station. At least one set of reference block and framing clamp is secured to each tool arm and these framing clamps maintain the reference surfaces of the vehicle body components against the reference blocks to hold the vehicle components at a predetermined position relative to each other.

Abstract: An automated method of packaging cooked French fries in an individual portion-sized French fry container is provided, wherein the cooked French fries are mechanically delivered to a holding bin, an empty French fry container is mechanically scooped into the cooked French fries to fill the container, and the filled French fry container is mechanically deposited at a drop-off location. The cooked French fries may be received on an inlet chute, the inlet chute optionally vibrated to assist gravity in causing the French fries to travel into the holding bin. Seasoning may be applied to the French fries while the French fries are on the inlet chute, optionally restrained by one or more gates. After filling, the filled container may be mechanically shaken. Additionally, the empty French fry containers may be mechanically selected from a plurality of different-sized collapsed containers, mechanically obtained, and mechanically erected prior to scooping.

Abstract: A system and method for CT guided instrument targeting including a radiolucent instrument driver; a robot and a control box. The robot includes a robotic module that positions the radiolucent driver about two directions coincident a predetermined point. The control device is connected to the robot and the radiolucent instrument driver. The control driver sends a robot control signal to the robot that causes the robotic module to place the radiolucent instrument driver in a desired orientation with respect to the predetermined point. After the radiolucent instrument driver is in the desired orientation, the control device sends a driver control signal to the radiolucent instrument driver that causes the radiolucent driver to insert a medical instrument or device through the predetermined point to a location proximate a target point in a patient.

Abstract: A manipulator for remotely controlled underwater operation in a nuclear radiation environment to perform service activities at difficult to access regions of the reactor vessel is disclosed. The manipulator includes six degrees of freedom in its ability to move so that it can get past obstructions inside a reactor vessel to access and service remote locations in the vessel. The manipulator also includes a rotary drive for inserting and removing the manipulator into and from a reactor vessel and for rotating the manipulator within the vessel. It also includes an arm with two rotary joints and three pivot joints that can be deployed for better access to difficult to reach locations. The manipulator, which is remotely operated, can be used to manipulate a variety of tools to perform various service activities. The tools, which are attached to the end of the arm, include a water jet, a gripper, a cutter and a camera.

Abstract: Wafers W are supported respectively on inner tables 52 of a table 13, and after a strip of sheet S is fed out to the upper surface side of the wafers W, a press roller 14 imparts a press force. The adhesive sheet S is cut along the outer periphery of the wafers by a cutter blade 63 mounted at the free-end side of a robot 15. The robot 15 has a function to exchange the cutter blade 63 with a suction arm 100, to transfer the wafer W from a magazine 200 to the table 13 and to transfer the wafer W stuck with the sheet to the next process.

Abstract: A method for maneuvering an articulable robotic arm includes monitoring a position of a dynamically moveable workpiece. Individual motion segments are iteratively executed to control the articulable robotic arm to position the end-of-arm tool contiguous to the workpiece and corresponding to an initial position of the end-of-arm tool, an initial position of the workpiece and an iteratively determined updated position of the workpiece.

Abstract: Methods include one or more of robotically positioning a cutting element on an earth-boring tool, using a power-driven device to move a cutting element on an earth-boring tool, and robotically applying a bonding material for attaching a cutting element to an earth-boring tool. Robotic systems are used to robotically position a cutting element on an earth-boring tool. Systems for orienting a cutting element relative to a tool body include a power-driven device for moving a cutting element on or adjacent the tool body. Systems for positioning and orienting a cutting element on an earth-boring tool include such a power-driven device and a robot for carrying a cutting element. Systems for attaching a cutting element to an earth-boring tool include a robot carrying a torch for heating at least one of a cutting element, a tool body, and a bonding material.

Abstract: The present invention relates to an apparatus and method for shaving the inside of barrels. In particular, the present 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. Therefore, the resultant internal dimensions of the barrel are not reflective, relatively, of the original barrel surface. The apparatus of the present invention includes a scanning device adapted to scan the internal dimensions of the barrel, and a cutting device adapted to shave the internal surface to a predetermined depth relative to the scanned internal dimensions.

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g.

Abstract: A robot tool for machining workpieces, includes a connecting element for connection to a robot. A cutting blade is maintained in a predetermined position by a retaining element, the retaining element being connectible to the robot by a connecting element.

Abstract: A laser processing robot control system is provided with a robot (1), a laser beam scanning device (3) and a robot controlling apparatus (7). The laser beam scanning device (3) is movable in a three-dimensional direction with respect to the robot (1) to scan a laser beam on a workpiece (W). This system selectively positions the robot and the laser beam scanning device to a prescribed position, and controls the laser beam scanning device (3) to scan the laser beam at a processing spot in a scan pattern based on a detected posture of the robot (1) and the scan pattern retrieved from the robot controlling apparatus (7). The teaching operations for positioning the robot (1) and the laser beam scanning device (3) to the prescribed position are performed independently of the teaching operations for controlling the scanning of the laser beam at the processing spot in the scan pattern.

Abstract: A calibrating technique is provided for the position/attitude or only the position of an arm tip of a robot, such as an articulated type of robot. At plural positions, respective n pieces of errors (??n, wherein n is a positive integer larger than a value obtained by dividing the number of unknown parameters by 6 or 3) are calculated. Each error is a difference between a position of the arm tip measured and a position commanded by control. An inter-error difference (??y (1?y?n?1)) between a reference error (??m (1?m?n)) arbitrarily selected from the n-piece errors (??n) and other errors (??x (x?n, except for m)) other than the reference error (??m) is calculated. A parameter, which is a basis for calculating the inter-error differences (??y), is made to converge until a sum of absolute values of the inter-error differences (??y) becomes within a given threshold (?0 (?0>0)).

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

Abstract: According to the present invention there is provided a Centerless Robotic Platform (CRP) system adapted for mounting on a surface of a body. The surface body extends along a longitudinal axis and having an essentially closed cross-sectional contour. The CRP system comprises at least a first drive unit comprising one or more rolling member, at least one link unit comprising one or more rolling member, and a biasing arrangement. The drive unit and the one or more link units are adapted for attachment to one another. When mounted onto the body, the biasing arrangement is adapted to bias the rolling members to engage the surface of the body.

Abstract: A method for joining together at least two sheets with a tool controlled by an industrial robot and including a first arm and a second arm that are mutually movable in relation to each other. An actual position of the sheets is detected by bringing one of the arms to sense the actual position of the sheets. The distance between an ideal position and the actual position is calculated and the actual position of the tool is moved the calculated distance, whereafter the sheets are joined together.

Abstract: An apparatus and method for molding a component onto a stretched blank. The apparatus includes a stretching assembly mounted adjacent to a first mold part. The stretching assembly includes a plurality of clamp assemblies that grasp the peripheral edge of the blank and a plurality of slide assemblies that move the clamp assemblies away from one another to apply a stretch to the fabric. The apparatus further includes a press for closing a second mold part onto the first mold part while the fabric is held in a stretched condition by the stretching assembly. In one embodiment, the stretching assembly may include a float plate that is movable with respect to the first mold part between a stretch position and a mold position. The apparatus may include a robot with tooling for moving the fabric onto the stretching assembly. The tooling may include a plurality of shot pins that push the fabric off of the tooling onto corresponding fabric pins in the stretching machine.

Abstract: A frame walker robot based on two sections connected by a parallel mechanism is described. The walker can step in any direction and can pose its free section in any orientation. Prismatic, rather than revolute, joints are used, leading to a scalable design.

Abstract: A system and method for the automated or “robotic” application of hardfacing to a surface of a drill bit.

Abstract: A system for automated processing of workpieces comprises at least one handling apparatus having at least one measuring arrangement configured to record at least one controlled variable and at least one regulatory device configured to interact with the at least one measuring arrangement to optimize the processing using the at least one control variable. The processing also includes machining, and the at least one handling apparatus includes a robot.

Abstract: A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.

Abstract: A rotary parlour for milking of animals includes an annular rotary platform (20) adapted to form a support surface (18) for the animals (22), positioning elements (19, 23) for arranging the animals (1) in milking positions on the platform (20), a drive mechanism (30) adapted to supply a rotational motion to the platform (20), and teat cup storing devices (11) for holding parked teat cups (2, 2?) in predetermined storing positions. The teat cup storing devices (11) are mounted in positions such that the teat cups (2, 2?) are located vertically above the platform (20) in their storing positions.

Abstract: A method for producing a casting die by simple work without requiring any high work skill in which the working days required for producing the casting die can be shortened greatly. A die model suitably employed in this production method, an NC processing system and a processing robot are also provided.

Abstract: The invention concerns a method for handling at least one part in a station for fixing two parts one on the other, characterized in that it comprises the following steps: positioning the parts in a station using a support (4); starting the fixing operation; replacing the support with a gripping robot (6) when the fixing operation has progressed sufficiently to lock the relative positioning of the two parts; mounting new parts in the support when the replacement has been made; and after the parts have been fixed, removing the thus fixed parts from the station using the gripping robot.

Abstract: A compliant service transfer module, which transfers services such as electricity, data, pneumatic fluid, etc., between a robotic arm and an attached tool, aligns service transfer points as the two units of the module mate, when the units are misaligned. A floating structure disposed in the first unit is operative to move laterally within a chamber in the housing of the first unit, to align service transfer points with the corresponding service transfer points of a second unit, when the two units are mated together but are not fully aligned. The floating structure protrudes from the first housing, and in the case of misalignment, contacts an angled inner wall of a chamber in the housing of the second unit, which moves the floating structure laterally to align the service transfer points. The floating structure returns to a default, centered position when the two units are not mated together.

Abstract: In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acting in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.

Abstract: An instrument holding system for a drive system is provided. The system can include an array holder that defines at least one bore for receipt of an instrument therethrough. The at least one instrument can be adapted for insertion into an anatomy. The array holder can be in communication with the drive system to receive a driving force. The system can include a fixation plate operable to move relative to the array holder such that the fixation plate is in contact with at least a portion of the at least one instrument to couple the at least one instrument to the array holder to enable the at least one instrument to be driven by the driving force into the anatomy.

Abstract: In a numerical control apparatus, a rotation-axis filtering processor subjects an angle change amount between interpolation points between rotation angles of a rotation axis to moving average filtering thereby smoothing the angle change amount between the interpolation points. A translation-axis timing synchronization unit subjects a moving amount between interpolation points between tool-tip positions of a translation axis to moving average filtering, to synchronize timing of rotation of the rotation axis being smoothed and timing of movement of the translation axis. A coordinate transformation unit transforms the tool-tip position into coordinates of a machine position of the translation axis according to a configuration of the machine tool, from each tool-tip position after timing synchronization between axes of the translation axis is performed and from each rotation angle of the rotation axis after being filtered.

Abstract: A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.

Abstract: A method and apparatus for removing wires from a bale includes a conveyor system for moving one or more bales and a de-wiring station positioned adjacent the conveyor system. The de-wiring station includes a robot with an end tool. A bale that is bound by one or more wires is transferred by the conveyor system to a position proximate the de-wiring station. The robot with end tool moves to sense the location of the wires, cut the wires, collect the wires and deposit the wires in a collection hopper.

Abstract: A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.

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: A Portable Dry Dock (PDD) system designed for commercial servicing of recreational vessels (RVs) in inland waterways (IW). This PDD is disassembled and transported from one IW to another. This PDD was designed specifically to improve the efficiency in the most typical maintenance jobs in RVs. The convenient layout of the equipment and the closed environment of the PDD reduce the execution time and improve the working conditions. The isolated environment created by the superstructure, deck and roof of the PDD significantly reduces the environmental impact. The isolated environment inside the PDD is controlled in temperature and humidity. The air filtering and waste water collection systems remove dust and other substances coming from the operation, stopping pollutants from getting into the IW.

Abstract: It is aimed to provide a cooking assistance robot and a cooking assistance method capable of efficient mixing, with which ingredients are unlikely to be unevenly heated. A cooking assistance robot for cooking by physically moving ingredients in a cooking container selects a mixing direction for leveling a mountain and performs a mountain leveling operation in the selected mixing direction in the presence of a mountain of a specified height or higher in the cooking container.

Abstract: Manufacturing equipment is provided for safely changing the setup of a jig while maintaining production line utilization. A safety wall prevents entry into a machining area where multiple machining installations are installed. Openable and closable access doors are provided for the machining installations. A workpiece holding tool is moved in the machining area conveys workpieces from one of the machining installations to another. Isolation walls prevent the movement of the workpiece holding tool. A control device drives the isolation walls allowing movement of the workpiece holding tool outside the machining area at the machining installation corresponding to an opened access door and prevents the workpiece holding tool from moving into the machining area with the opened access door.

Abstract: An industrial robot including a tool flange at an end of an outer arm of the robot. A tool is secured to the tool flange. A sensor is configured to sense forces and/or torques applied to a tool secured to the tool flange. The sensor is built into the structure of the robot in the region of the tool flange.

Abstract: Tool-changing system, storage device for this purpose and method for coupling a tool to a robot arm. The invention relates to a tool-changing system for an industrial robot, with a robot-side coupling device (100) provided in a robot arm, with at least one tool (70a, 70b) couplable to the robot-side coupling device (100) and having a tool-side coupling device (76a, 76b), and with a storage device (10) for receiving the at least one tool (76a, 76b) in the non-coupled state. The invention relates, furthermore, to a storage device suitable for this purpose and to a coupling method which can be carried out by means of the tool-changing system. According to the invention, the storage device comprises a base (12), securing means (32a, 32b) for securing the robot-side coupling device (100) and feeding means (50a, 50b) which are designed for generating a relative movement of the robot-side coupling device (100) and of the tool-side coupling device (76a, 76b) with respect to one another in a coupling direction (2).

Abstract: The present invention relates to a process for manufacturing a shaped article such as tubes, and hoses comprising processing a fiber-reinforced thermoplastic polymer in an extruder apparatus.

Abstract: A working mechanism for a medical manipulator and a cleaning method therefor are provided. A working unit of a medical manipulator is equipped with a hollow connecting shaft, wires of a motive force transmitting member disposed in the connecting shaft, and a distal end working unit disposed on one end of the connecting shaft and which is moved by the wires. A cover covers at least a portion of the distal end working unit. A gap is provided between the cover and the connecting shaft, with oblong holes being disposed laterally on right and left sides of the cover. A cleaning agent is made to flow through the holes and the gap and/or a brush may be inserted through the holes and the gap for cleaning the distal end working unit.

Abstract: A tire rotating robot used to rotate the tires of a vehicle. The robot can remove two tires sequentially without having a human to manually lift the tires. The robot for rotating tires comprises of a mobile base, a body connected to the base, a pivotally mounted two-position rotating beam connected to the body, two arm guide assemblies displaced within a channel of the beam, a motor that powers the robot, and an interface that controls the robot.

Abstract: A robotic workstation includes apparatus for actuating one or more syringes. Each syringe has a cylinder and a plunger movable in the cylinder. A programmable robot has at least one syringe actuating device. The actuating device has a holder for holding and releasing a syringe cylinder and an actuator movable relative to the holder. A coupling couples the actuator to the plunger of the syringe such that, when the cylinder is held by the holder, movement of the actuator relative to the holder causes the plunger to move in the cylinder. A method of dispensing a material into a container includes robotically moving at least one syringe to a position for dispensing into a container. The plunger is robotically moved in the cylinder to dispense material from the syringe into the container. The workstation suitably includes a mixing apparatus for mixing materials in an array of containers at the workstation.

Abstract: This device is for the formation and transfer of rows of articles. In particular, the device is for the formation of a row of articles on a layer formation table and the transfer of the row from one processing operation to another. A programmable robot and EOAT easily sweeps or pushes the load (tier) down the layer formation table returns to it's original position. A single, programmable robot performs all functions. The absolute unique end of arm tooling (EOAT) is fitted to the robot. The articles of one row are nested in the voids between articles in an adjacent row.

Abstract: An end effector squeezes parts such as rivets to upset the rivets in place within a workpiece. The end effector includes a C-shape frame slidably mounted on a support, such as a robotic arm. The frame includes opposing jaws respectively carrying tools for engaging opposite ends of the rivet, and forming a button on one end of the rivet. A single actuator moves one of the tools into engagement with a factory head on the rivet, and then displaces the frame relative to the first tool in order to bring the second tool into engagement with and deform the other end of the rivet.

Abstract: A clamp changing apparatus includes a holder (70) including a plurality of clamp-holding devices (72), each of which holding a clamp (10) thereon, a robot (50) including a shaft (501), and a coupling device (30) secured on the shaft of the robot. The robot selects one of the clamps held on the clamp-holding devices according to a predetermined machining program therein, changes out a used clamp for the selected clamp, and mounts the selected clamp on the coupling device.

Abstract: An assembly of a milking robot with a milking robot feeding place, such as a milking robot feed trough, and a device for gripping and displacing material, such as for example roughage and/or concentrate for animals. The device is provided with a gripper (2) for gripping, then displacing and subsequently supplying the material. The device comprises control means for displacing the gripper (2) to the milking robot and for controlling the gripper for supplying the material to the milking robot feeding place of the milking robot.

Abstract: A robotic tattoo application and tattoo removal methods and systems are described. This technology involves the use of a robotic system guided by control of a graphics capable computer in order to perform various types, including artistic, recreational, cosmetic, or therapeutic tattooing, or tattoo removal.

Abstract: In an umbilical member processing mechanism of a robot, a working tool managing unit umbilical member (50) for supplying at least one of the power, the signal and the material to a working tool managing unit (34), is guided from a rotary barrel in the longitudinal direction of an upper arm on a side face of the upper arm (14) located on the opposite side to the side attached to the rotary barrel (12) and then guided onto a front side (18b) of a front arm (18). Next, the working tool managing unit umbilical member (50) is connected to the working tool managing unit (34) through a side of the front arm located on the opposite side to the side on which the upper arm is attached. Further, the working tool managing unit umbilical member is connected to the working tool managing unit being relayed by an umbilical member junction portion (39) attached to a side or a front side of the front arm.

Abstract: A system is described for performing work or maintenance on a structure having an inclined working surface that includes a support robot for positioning at a high point on the structure and a payload robot attached to the support robot by an umbilical or tension cord for maneuvering along the working surface. The support robot and payload robot include traction devices having a continuous traction belt provided on a pair of opposing rollers. The traction belt includes openings such that a vacuum may be applied through the traction belt causing the traction device to cling to a working surface. A method for using the support robot and payload robot to perform work or maintenance on an inclined surface of a structure is also disclosed.

Abstract: A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.

Abstract: Radiosurgical treatment of tissues of the heart to mitigate arrhythmias such as atrial fibrillation or the like. Radiosurgical targeting of the relatively rapid movement of heart tissues may be enhanced by generating a moving model volume using a time-sequence of three dimensional acquired tissue volumes. A digitally reconstructed radiograph (DRR) may be generated from the model at a desired cardiac and/or respiration motion phase and compared to an X-ray or the like taken immediately before or during treatment. When a series of radiation beams will be directed to a heart tissue to alleviate an arrhythmia, the treatment system may alter the radiation beam series in response to the type of the arrhythmia.