Abstract: A radial stacked actuator includes an actuator ground; a motor including a motor ground constrained to the actuator ground with one or more rotational degrees of freedom; a spring coupled between the motor ground and the actuator ground; a gearbox coupled to the motor at an input of the gearbox; and an actuator output coupled to an output of the gearbox. The spring is configured to deflect as the motor ground rotates relative to the actuator ground.

Abstract: Disclosed are a clutch mechanism, a steering system, and an automobile. The clutch mechanism includes a slidable block and a driving component. The slidable block can be accommodated in a radial spacing between a first end shaft and a second end shaft that are coaxially arranged and radially spaced apart from each other, and is configured to translate along an axial direction of the first end shaft and the second end shaft to realize decoupling or coupling between the first end shaft and the second end shaft. The driving component is configured to drive the slidable block to translate along the axial direction of the first end shaft and the second end shaft.

Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.

Abstract: Linear actuator (8) comprising a quick release (27) for disengagement of an adjustment element (23) from an electric motor (19) and the part of a transmission (20) extending from the electric motor (19) to the quick release (27), such that the spindle (21) of the linear actuator is rotated under the load on the adjustment element (23). Further, the linear actuator comprises brake means (28) connected to the spindle (21) for controlling the speed of the adjustment element (23), when the quick release (27) is activated. A coupling (34;52,53,54) connected the brake means (28) is configured to set the brake means (28) in an active state, when the coupling (34; 52,53,54) is engaged, or in an inactive state, when the coupling (34;52,53,54) is slipping or disengaged.

Abstract: A method for operating a robotic joint of a robotic system comprising selectively operating a clutch mechanism of a clutched joint module in an engaged state to cause a quasi-passive elastic actuator to enter an elastic state, the clutched joint module operating about and defining a joint of the robotic system. The method comprising effecting a first rotation of the joint to cause the quasi-passive elastic actuator to store energy during at least a portion of the rotation of the joint. The method comprising effecting a second rotation of the joint and causing the stored energy from the quasi-passive elastic actuator to be released in the form of an augmented torque applied to an output member of the clutched joint module. The method comprising selectively operating the clutch mechanism in a disengaged state to cause the quasi-passive elastic actuator to enter an inelastic state.

Abstract: A robotic surgical tool for a robotic instrument driver that includes a handle having a first end, at least one spline rotatably coupled to the handle and extending proximally from the first end, a carriage movably mounted to the at least one spline and including a first layer and a second layer operatively coupled to the first layer. At least one spline extends through a portion of at least one of the first and second layers and the carriage translates along the at least one spline. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof and an activating mechanism coupled to one or both of the first and second layers and actuatable to operate a function of the end effector.

Abstract: High precision end effectors for robots and adapters that provide attachment of the end effectors to a variety of robotic arms are disclosed. The combination provides for harmless break-away of the end effector on collision, and autonomous tool changer capability for mobile robots.

Abstract: A harmonic drive assembly and fluid-powered linear motors with both axial pistons are rotary piston arrangements incorporating the harmonic drive assembly are disclosed. The motors may be used in downhole drilling applications, but the drive assembly and/or motors may be used in other applications. The assembly, motors and methods use advanced harmonic drives, advanced helical drives, and combinations thereof with 1) motors with axial pistons and reciprocating linear rings to convert reciprocative axial motion to continuous rotary motion, and 2) motors with rotary pistons and reciprocating linear rings to rectify reciprocative rotary motion to continual rotary motion to improve performance over prior configurations. Axial pistons provide a robust simple solution for generating rotation; Rotational pistons provide increased torque generation as the torque generated is proportional to motor length. Since downhole drills are long, a high-torque motor can be produced using this method.

Abstract: A module (200) for connecting a mobile robot (110) to associated equipment (400) is provided, as well as to a device (700, 800) for connecting equipment to a docking station (900, 1000). The module (200) has a housing (210) defining the exterior of said module (200). The module (200) comprises a plurality of locking members (220a, 220b, 220c, 220d) each being moveable between an idle position, in which the locking member (220a, 220b, 220c, 220d) is arranged fully within said housing (210), and a projecting position, in which at least a part of the locking member (220a, 220b, 220c, 220d) is extending outside the housing (210).

Abstract: A universal actuator for driving a continuum arm robot having a plurality of tendons includes; a housing; a power supply pack with a power source; a control pack with an industrial programmable logic controller, a screen, a rotary encoder linked to an analogue input device, a digital output device, a plurality of electronic control cards that connect the programmable logic controller to a user input device, the rotary encoder and an actuator pack for controlling the motion of the continuum arm robot, the programmable logic controller or the screen having a computer program to allow for set up and control of the continuum arm robot.

Abstract: An adapter for motor replacement includes fixing portions. The adapter has a shape of being placeable so as to be bridged between a housing that fixes a motor and a pulley that is fixed to the motor and transmits a rotary drive force via a belt and to avoid a space for removing the motor from the housing. The fixing portions are respectively fixed to the housing, to which the motor is fixed, and the pulley fixed to the motor.

Abstract: Proposed is an actuator for a recliner which can be manufactured with components having simple structures to reduce weight, and functions of a seat operated through different cables are independently performed stably. The actuator for a recliner includes: a casing part, and a drive part provided with a worm wheel gear located inside the casing part and rotated by an operation of a motor, and a rack gear configured to move elastically toward a first or second side of the drive part in engagement with the worm wheel gear, with cables being coupled respectively to the first and second sides of the rack gear.

Abstract: A passive joint device for supporting a rotation-side member rotatably about a horizontal axis in a vertical direction with respect to a fixed-side member, includes: a cylindrical cam member having a pair of cam surfaces symmetrically arranged about a horizontal axis, a pedestal slidably disposed along the horizontal axis fixed to the rotation-side member, the pedestal having a pair of cam followers that contact with each of the pair of cam surfaces, a spring disposed inside the horizontal axis and biasing the pedestal toward the fixed-side member along the horizontal axis, wherein the spring force causes the pair of cam followers to come into contact with the pair of cam surfaces, and provide upward rotational force to the rotation-side member to reduce the downward rotational force of the rotation-side member.

Abstract: A robot joint structure includes a first robot member, a second robot member, and a speed reducer incorporated in a joint portion that connects the first robot member and the second robot member to each other. The speed reducer includes an external gear, an internal gear that meshes with the external gear, and a fixing member that is provided so as to be non-rotatable relative to the internal gear and is fixed to the first robot member. The fixing member is fixed to the first robot member by bringing an inner peripheral surface of the first robot member and an outer peripheral surface of the fixing member into pressure contact with each other by fastening using a first fastening member. At least a part of an axial range of the first fastening member does not overlap internal teeth of the internal gear when viewed in a radial direction.

Abstract: An automatic adjustable stroke device for a random orbital machine has a housing with a central axis and a wall defining a cavity. A counterbalance shaft assembly is rotatably disposed at least partially within the cavity. A shaft portion of the counterweight shaft assemblies aligned with the central axis. A mounting assembly is disposed at least partially within the cavity. The mounting assembly has a workpiece attachment mechanism. A stroke adjuster couples the counterweight shaft with the mounting assembly. The stroke adjuster enables the mounting assembly to adjust its stroke upon rotation of counterweight shaft. The mounting assembly variably adjusts a stroke radius of the workpiece attachment mechanism with respect to the central axis of the housing. The stroke adjuster has a gear automatically adjusting the mounting assembly stroke.

Abstract: A trim actuator for a horizontal stabilizer comprises a power screw, a rotary actuator, configured to rotate the power screw, and a nut, configured to translate along the power screw when the power screw is rotated. Trim actuator also comprises an anti-back-drive mechanism, configured to prevent the power screw from rotating in a first rotational direction when a first force is applied to the nut in a first axial direction and to prevent the power screw from rotating in a second rotational direction, opposite the first rotational direction, when a second force is applied to the nut in a second axial direction. Trim actuator further comprises a sensor, configured to measure internal loading of the anti-back-drive mechanism when the first force is applied to the nut in the first axial direction or when the second force is applied to the nut in the second axial direction.

Abstract: Linear actuators, motor assemblies, and methods to actuate a device or load are presented. A linear actuator includes a piston having a piston slot and configured to linearly shift from a first position to a second position, and rotate as the piston shifts towards the first position. The linear actuator also includes an activating lever having a shoulder that the piston engages as the piston shifts to the second position, where the activating lever is configured to shift after piston engages the shoulder. The linear actuator also includes a retractable rail configured to shift from a first position downwards to a second position, and having a tab positioned in a groove of the piston slot as the piston shifts from the first position to the second position.

Abstract: A ball screw device comprising: a screw shaft, a nut, balls arranged between the shaft-side ball thread groove and the nut-side ball thread groove, a stopper including: a boss portion fitted to the fitting shaft portion of the screw shaft, and a second engaging portion protruding in the radial direction from the boss portion and engageable with a first engaging portion of the nut in the circumferential direction, and a holding member arranged adjacent to one side in the axial direction of the stopper, such that an axial load can be transmitted between the screw portion of the screw shaft and the holding member through the stopper without applying a moment to the stopper.

Abstract: A robot includes a first member and a second member, the first member includes a housing having a first wall and a second wall disposed to face each other, a first protrusion, and a second protrusion, a drive section having a motor body, a drive pulley and a flange, a joint section having a driven pulley and a belt, the first protrusion and the second protrusion having support sections that support both end portions of the flange, a separation distance between the support sections being shorter than a length of the flange in which the flange protrudes, and missing sections configured such that a separation distance between the missing sections is longer than the length of the flange in the direction in which the flange protrudes, both end portions of the flange passing through the missing sections.

Abstract: A mobile robot (for example, a robot used for package deliveries, among other purposes) may include a mast with a visual indicator for providing visibility to drivers and pedestrians in the environment proximate to the mobile robot. The mast may produce a large moment arm, which may result in the mast being more likely to break off from the robot. To mitigate or prevent damage to any components of the mast and/or the mobile robot when such a breakage occurs, described herein is an omni directional breakage joint that is used to connect the mast to the mobile robot. The omni directional breakage joint comprises multiple ball and socket joints that provide structural support between the mast and the mobile robot, while simultaneously allowing for a certain movement freedom of the mast and allowing for the mast to easily be engaged and disengaged from the mobile robot without causing damage to any components.