Abstract: A speed reducer including: an input shaft; a first barrel cam; a first output table; an intermediate shaft; a second cam; and a second output table, in the first output table, the plurality of first cam followers being provided concentrically around a rotation center position of the intermediate shaft, concerning a certain first cam follower among the plurality of first cam followers, when a center position of the certain first cam follower when the certain first cam follower has been moved to a farthest end on one side in the up-down direction is defined as a reference position, a center position of the first barrel cam being shifted to another side in the up-down direction with respect to the reference position, an engagement center position in the front-rear direction between an engagement start position and an engagement end position being shifted either of forward and rearward with respect to the reference position.

Abstract: A rotating direction change device for a microtome includes: a first shaft arranged in a first fixed position; a first gear wheel non-rotatably mounted to the first shaft; a second shaft movable in a first direction; a second gear wheel non-rotatably mounted to the second shaft; a third shaft movable in a second direction; a third gear wheel non-rotatably mounted to the third shaft; and a first connection part connecting the second shaft and the third shaft such that the second gear wheel is constantly meshed with the third gear wheel, in which the second gear wheel can be driven by the first gear wheel directly or indirectly. Hence, the rotating direction change device has advantages of simple structure and low friction.

Abstract: A strain wave gear includes gear elements including a circular element having an internally-toothed gear and a flex element having a flexible externally-toothed gear arranged in the circular element. A wave generator is rotatably arranged in the flex element and configured to flex the externally-toothed gear in a radial direction to partly mesh the internally-toothed gear and the externally-toothed gear. Support elements include a bearing input support element and a bearing output support element rotatably coupled to the bearing input support element. Elements of the support elements are fixed respectively to elements of the gear elements. An encoder arrangement includes an encoder track and an encoder reader. A part of the encoder arrangement is between an element of the support elements and an element of the gear elements.

Abstract: A transmission comprises a first input shaft, a second input shaft, an output shaft, and an intermediate shaft. A first input shaft gearwheel, a second input shaft gearwheel, a first intermediate shaft gearwheel, a second intermediate shaft gearwheel, a first output shaft gearwheel drivingly connected to the first input shaft gearwheel, a second output shaft gearwheel in meshing engagement with the first intermediate shaft gearwheel, and a third output shaft gearwheel in meshing engagement with the second intermediate shaft gearwheel, are provided.

Abstract: Regarding a travel power transmission apparatus for a tractor, in which a creep speed changing apparatus is housed in a transmission case, the present invention increases a deceleration ratio throughout the creep speed change while suppressing an increase in the size of the transmission case.

Abstract: A vertical articulated robot includes a first joint axis portion including a first motor configured to rotationally drive a tool flange, and a second joint axis portion including a second motor configured to rotationally drive the first joint axis portion. The first motor includes a portion that overlaps the second motor in a direction orthogonal to both a direction in which a first rotation axis extends and a direction in which a second rotation axis extends.

Abstract: A gearbox comprising: an outer intermediate shaft carrying a first set of shaft gears; an inner intermediate shaft carrying a second set of shaft gears, the inner intermediate shaft running concentrically within the outer intermediate shaft; a first lay shaft carrying a first set of drive gears and an output gear positioned along the first lay shaft between two of the first set of drive gears, a second lay shaft carrying a second set of drive gears and an output gear positioned along the second lay shaft between two of the second set of drive gears, each drive gear being coupled to a respective shaft gear to together provide a plurality of gear ratios between the intermediate shafts and the output shaft; and an output shaft, each lay shaft being coupled to the output shaft by the respective output gear.

Abstract: Proposed is an elastic body having variable rigidity, wherein the elastic body is used in a series elastic actuator module, connects an input and an output, and has a rigidity that varies according to the applied torque. The elastic body having variable rigidity comprises: a connection part which receives torque from the input side or the output side; and a spring part connected to and receiving torque from the one selected from among the input side and the output side which is different from the connection part, wherein the spring part is formed integrally with the connection part and has a rigidity that varies as the connection part and the spring part come into contact with each other due to deformation caused by the applied torque.

Abstract: A spatial large-stroke compliant hinge with hybrid structure, which includes a rectangular planar unit for implementing an out-of-plane torsion function and a crossed-shaped planar unit for achieving an in-plane rotation function. The crossed-shaped planar unit is formed by two flexible straight beam thin sheets intersecting into a crossed-shaped structure with an angle, and the rectangular planar unit and the crossed-shaped planar unit are connected through an external connection or an embedded connection.

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.

Abstract: An articulation for a robot, in particular a collaborative robot, includes as components a drive, a transducer for providing information relating to a rotational speed, commutation and/or position, and a plurality of heat exchanger tubes for removing heat from the components, with a first one of the heat exchanger tubes touching a first subset of the components, and with a second one of the heat exchanger tubes touching a second subset of the components.

Abstract: A planar actuator device, including a base plate including a first, second, and third pair of planar coils, each pair of planar coils having an inner coil and an outer coil, each pair of planar coils arranged along a first, second, and third linear motion axis, respectively, the first, second, and third linear motion axis arranged in a star configuration, and an actuation mechanism including a first, second, and third planar legs and a centerpiece, the first, second and third planar legs pivotably connected to the centerpiece, the planar legs including a first, second, and third sliding element and a first, second, and third middle section, respectively, a sliding element and middle section of a respective leg pivotably connected to each other, each sliding element including a permanent magnet.

Abstract: A positioning device is disclosed which can include a base and a positioning element, which is configured to be adjusted with respect to six degrees of freedom relative to the base, wherein the positioning element is coupled to the base via at least three pairs of length-variable and electrically driven leg elements, and each leg element is connected, at its respective ends, to the base and the positioning element via an articulation element. A respective pair of legs projects through another pair of legs and each pair of legs is arranged perpendicular to the respective other pairs of legs.

Abstract: A water ejecting apparatus includes a case and a water ejection unit coupled to one side of the case. The water ejection unit includes a rotator seated inside at a front of the case, a first lifting cover coupled to one side of the rotator and allowing a lifting gear extending in an up-down direction to be fixed thereto, a second lifting cover movably accommodated inside the first lifting cover, a lifting motor coupled to the second lifting cover and configured to interwork with the lifting motor, and a water ejection nozzle installed at a lower end of the second lifting cover and configured to eject water. A water ejection pipe having one end connected to the water ejection nozzle and the other end extending to an inside of the case is disposed in a lower space of the lifting motor and the gear module.

Abstract: A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and rotate around a rotation axis relatively to the internal gear, and a wave generator configured to come into contact with an inner circumferential surface of the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis. The external gear includes a cylindrical section including a first end portion with which the wave generator is in contact and a second end portion adjacent to the first end portion along the rotation axis. An inner circumferential surface of the first end portion includes a polished surface. An inner circumferential surface of the second end portion includes a lathe-cut surface.

Abstract: In embodiments, a work vehicle magnetorheological fluid (MRF) joystick system includes a joystick device, an MRF joystick resistance mechanism, and a controller architecture. The joystick device includes, in turn, a base housing, a joystick movably mounted to the base housing, and a joystick bias mechanism coupled to the joystick and exerting a centering force urging the joystick to return to the centered position when moved therefrom. The controller architecture is operable in a modified centering mode in which the controller architecture: (i) determines when the joystick begins return toward the centered position due to the centering force applied by the joystick bias mechanism; and (ii) when so determining, commands the MRF joystick resistance mechanism to modify a rate at which the joystick returns to the centered position by varying the MRF resistance force applied to the joystick.

Abstract: A wedge drive is provided having a first and a second wedge drive part and an adjustable guide apparatus, formed at least in part by the first and second wedge drive parts, which are movable, by means of a stroke directed in a stroke direction (Z), toward each other in a sliding direction (X, X?, X?) determined by the guide apparatus and at an angle to the stroke direction (Z), guided by the guide apparatus, wherein a guide part of the guide apparatus is movable along a forced guidance surface by adjusting the position of an adjustment surface and a guide play can be set as a result, wherein a normal vector (N) of the forced guidance surface is at an angle to a plane of movement spanned by the stroke direction (Z) and the sliding direction (X, X?, X?).

Abstract: An electromechanical system operates in part through physical interaction with an operator, and includes a multi-axis robot, a controller, and a counterbalance mechanism connected to the robot. The counterbalance mechanism includes a base structure connected to a set of linkages, a pneumatic cylinder, a spring-loaded cam assembly, and an optional constant force spring. The linkages form a four-bar parallelogram assembly connectable to a load. The cylinder and cam assembly, and optional constant force spring, each impart respective vertical forces to the parallelogram assembly. The forces combine to provide gravity compensation and self-centering functions or behaviors to the load, enabling the load to move with a vertical degree of freedom when manually acted upon by the operator, and to return the load to a nominal center position.

Abstract: An internal pressure adjustment system includes a gas supply line that supplies incombustible gas to a housing space of a robot, and an exhaust line that exhausts gas from the housing space. The internal pressure adjustment system further includes an on-off valve of a gas pressure driven type that switches between opening and closing of the exhaust line in accordance with the gas supply pressure. The exhaust line is opened in response to an increase in the gas supply pressure and the exhaust line is closed in response to a decrease in the gas supply pressure.

Abstract: A transmission lever device for an automobile includes: a base; a lever rotatably mounted on the base, wherein the lever is configured to select one of sequentially disposed gear positions including park (P), reverse (R), neutral (N), drive (D), and low (L) by a linear movement and to be movable from P to L and from L to P; and a blocker mounted on the base and configured to restrict and wide movement of the lever from P to L.