Abstract: A robot arm includes multiple joints and multiple links which can be adjusted relative to one another by movements of the joints of the robot arm. Each driven joint is paired with a drive device, and each drive device is designed to adjust the robot arm joint paired therewith, namely by automatic actuation of a motor of the respective drive device. The robot arm has a distal end link designed in the form of a tool flange, a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links and on which the distal end link is rotatably mounted about a flange rotational axis. An additional output link is rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis and which is arranged on the hand link so as to lie opposite the distal end link.

Abstract: Disclosed herein is a flexible robotic limb. The design may include a backbone with rolling-contact joints connected to one another by pulley structures and corresponding cord loops engaged with the pulley structures. One or more flexible actuators may be used to control a length between adjacent links of the rolling contact joints to control articulation of the flexible robotic limb while still permitting passive reconfiguration of the flexible robotic limb when it is not being actively articulated.

Abstract: A robotic wrist for a robotic arm includes a hybrid differential with a first cam, a second cam, a first differential input, and a second differential input. The first cam and the second cam are disposed about first and second pivots oriented along a first rotational axis. An abduction output is coupled to the second cam and has a second rotational axis transverse to the first rotational axis. The robotic wrist includes a first actuator, a second actuator, a first link coupling an output of the first actuator to the first differential input, and a second link coupling an output of the second actuator to the second differential input. Synchronous motion of the actuators causes flexion of the abduction output about the first rotation axis, and asynchronous motion of the actuators causes abduction motion of the abduction output about the second rotation axis.

Abstract: A surgical instrument includes a shaft, an end effector, and an articulation mechanism. The end effector is movable between a first position where the end effector is aligned with a longitudinal axis of the shaft, and a second position where the end effector is disposed at an angled relative to the longitudinal axis. The articulation mechanism includes a proximal gear disposed in mechanical cooperation with the shaft, a distal gear disposed in mechanical cooperation with the end effector, a first lateral gear disposed in contact with the proximal gear and the distal gear, and a second lateral gear disposed in contact with the proximal gear and the distal gear.

Abstract: A shift device includes a shift switching member including a plurality of valley portions; a positioning member configured to establish a shift position; a motor configured to drive the shift switching member; a rotor rotation angle sensor; and an output shaft rotation angle sensor configured to detect a rotation angle of the shift switching member. When the positioning member is moved to pass through the plurality of valley portions, the rotation angle of the motor corresponding to the valley bottom of each of the plurality of valley portions is acquired by, based on output values of the rotor rotation angle sensor and the output shaft rotation angle sensor, and a design value associated with the output value of the output shaft rotation angle sensor and the shift positions, detecting the valley bottom at an end portion among the valley portions and reversing the movement of the positioning member.

Abstract: A dual-motor driving device includes an input axle, a sleeve that is rotatable relative to the input axle, two rotors, a axle one-way clutch and a first rotor one-way clutch. Each of the rotors surrounds the sleeve. The axle one-way clutch is mounted between the input axle and the sleeve so that rotation of the input axle relative to the sleeve in a first rotating direction is prevented, and that rotation of the input axle relative to the sleeve in a second rotating direction opposite to the first rotating direction is permitted. The first rotor one-way clutch is mounted between the sleeve and one of the rotors so that rotation of the one of the rotors relative to the sleeve in the first rotating direction is prevented, and that rotation of the one of the rotors relative to the sleeve in the second rotating direction is permitted.

Abstract: A flexible structure includes a first member, a second member, a recess, and a wire. The first member is capable of flexing and extending. The second member covers an outer circumference of the first member and is capable of flexing and extending in conjunction with the first member. The recess is provided at an inner circumference of the second member. The wire is held between the first member and the second member in a state in which at least a part of the wire is inserted into the recess in the radial direction.

Abstract: An apparatus is described for robotic control of an ultrasound imaging device. The apparatus comprises a fixed base and a movable platform with an end-effector. A plurality of passive soft links connects the platform to the base. A series of cables connect the platform to a set of motors adjacent the base. When the platform is at rest, the tension in the cables counter-balances the passive soft links pushing the platform away from the base plate. Control electronics move the motors so as to control the location and the orientation of the platform. By increasing or decreasing tension in the cables, the motors smoothly control the location and the orientation of the platform and thus the end effector. Such a robotic apparatus can be used to provide expert handling of an ultrasound imaging device remotely.

Abstract: An electrically-insulating insulating cover is for a bracket having a hollow structure. The bracket is attached to a tool attachment surface of a hollow arm member, and has a hollow hole that allows a wire body to pass therethrough from a hollow portion in the arm member into an interior of the bracket through an opening on the tool attachment surface. The insulating cover is disposed in the interior of the bracket, and covers both bracket fixtures for fixing the bracket to the tool attachment surface and the hollow hole.

Abstract: This disclosure relates to the field of electrical appliance, in particular to a kitchen appliance and a base thereof. The base includes a base body, an input shaft assembly arranged in the base body and connected to an external actuator, and an output shaft assembly arranged in the base body and removably connected to a household appliance body, wherein the input shaft assembly is in transmission connection with the output shaft assembly, the input shaft assembly is arranged in a first direction, and the output shaft assembly is arranged in a second direction, an included angle between the first direction and the second direction ranges from 85° to 95°.

Abstract: The present invention provides a high-accuracy snake arm with large load and long-distance radiation resistance, which includes a driving base body and a snake shaped arm, where the snake shaped arm is composed of parallelly-connected joints connected in series, which includes a plurality of identical movable linkages connected in parallel, each of the parallelly-connected joints further includes platforms; when one of the platforms at the two ends of the plurality of identical movable linkages connected in parallel is fixed, the other platform performs translation motion along a circle relative to the fixed platform. The movable linkage includes at least a link; and a plurality of driving units are installed in the driving base body, each driving unit is respectively connected to each link in the parallelly-connected joint via a steel wire rope.

Abstract: An assembly for balancing torsion forces within a long stroke oil pumping rig's roller trolley, the assembly incorporating an axle having forward and rearward ends, wherein the roller trolley is mounted rotatably upon the axle's forward end; a knuckle fixedly attached to the rearward end of the axle, the knuckle incorporating forward and rearward “C” brackets; a forward chain drive assembly, the knuckle's forward “C” bracket operatively engaging the forward chain drive assembly; a lever arm fixedly attached to and extending rearwardly from the knuckle's forward “C” bracket, wherein the lever arm is fixedly attached to or formed wholly with the knuckle's forward “C” bracket; and a rearward chain drive assembly operatively engaged by the knuckle's rearward “C” bracket.

Abstract: A module robot includes a first link, a second link movably linked to the first link, and a fluid pressure cylinder configured to move the first link and the second link relative to each other, wherein the first link has a cylinder block in which a cylinder chamber of the fluid pressure cylinder is formed.

Abstract: The invention relates to an actuator having a drive (2) driving an input shaft (1), a first actuation element (3) in operative connection with the input shaft (1) for actuating a shifting mechanism, and a rotatably mounted rotation element which can be driven by means of the input shaft (1) and has a first control cam (7) for controlling the actuating position of the actuator, which control cam is operatively connected to the first actuation element (3) for actuating the shifting mechanism. According to the invention, the actuating position of the actuator can be determined inductively by means of a receiving or holding element (10) for a position indicator (11), said receiving or holding element being operatively connected to the rotation element (4).

Abstract: A cable tensioning system of a surgical system comprises a base, an arm, and a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system. A closed loop cable drive extends between the first pulley system and the second pulley system, and the closed loop cable drive passes over the moveable idler pulley. The cable tensioning system also comprises a translation mechanism slidably coupling a second end of the arm to the base. The translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.

Abstract: A centrifugal scissor gear assembly includes main and secondary gears with one or more counterweights or weighted balls there between. Optionally a thrust washer retains the components together. In one form, the counterweights are pivotable between the main and secondary gear. In another form, the weighted balls move within matching trenches or grooves in the main and secondary gears. When the engine is operable and the main gear is rotated, the counterweights or weighted balls are moved radially outwardly due to the centrifugal force. The scissor gear assembly can vary pre-load and apply a lower pre-load at lower engine speeds and a higher pre-load at higher engine speeds. No springs are used to achieve bias torque and no special tools or procedures are required for installation since the gear teeth of the main and secondary gears are aligned when the scissor gear assembly is not operating.

Abstract: Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.

Abstract: A shift track selection rod and a shifting element are provided which can be connected to one another without additional fastening elements. A system consists of the shift track selection rod and the shifting element. A transmission actuator includes the system. A transmission includes the system or the transmission actuator.

Abstract: Methods and systems for an actuator cartridge. The actuator cartridge includes an actuation assembly that is rotationally coupled to an actuation motor and a sleeve. The sleeve includes a shift device groove that circumferentially extends around the sleeve and is configured to axially capture a shift device and gaps that extend from an axial side of the sleeve to the shift device groove.

Abstract: A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.