Abstract: A device for moving a robot or automatic machine having a first carriage movable along parallel rails in a direction X'OX and supporting a second carriage movable in a direction Y'OY perpendicular to the direction X'OX, along rails supported by said first carriage. The end elements of each of the carriages are modular in conception and constitute a lateral face of the carriage, comprising a flat housing open on one large face, said open face being closed by a plate secured thereto. The carriages are movable on racks on each of the supporting rails, being engaged by pinions, and a set of gears is disposed in each of the housings, being connected between a driving means and the shaft of the pinion in a first module of each carriage and being connected between a drive shaft between the first and second modules of each carriage and the shaft of the pinion of the second module, in the case of the second module.

Abstract: Self-contained modular joint adapted to interconnect two machine elements to permit a relative rotation of less than one revolution therebetween, wherein the first element comprises a strap consisting of a pair of wing-like extensions encompassing the second element in such a manner that said second element can pivot between said two wing extensions, each wing extension of said strap being provided with a bore concentric to the axis of said relative rotation, said bore being adapted to be engaged by members of revolution each adapted to center and position in the axial direction an inner race of rolling contact bearings capable of absorbing axial and radial efforts, the outer race of each one of said bearings being carried by a member of revolution centered and secured to said second element so as to constitute between said two elements a joint free of both axial and radial play, wherein one of said two members of revolution secured to said second element has fitted thereon the toothed annulus of a reduction

Abstract: Robots or industrial automatons comprising each: standard modules assembled like a meccano construction, said modules being adapted to perform the requisite basic functions and comprising a module of translation, a module of rotation of 2 k .pi., a module of rotation of less than 2 k .pi., a member consisting for example of a head having several axes, said standard modules being interconnected by means of arms sawed to the desired length before assembling the component elements of the robots.

Abstract: A self-contained modular pivot mechanism notably for automation and robot structures to enable a second machine element to perform any desired movement of rotation in relation to a first machine element through a distortion-wave harmonic reduction gear driven from a hydraulic motor secured through a shaft to the device driving said gear.

Abstract: Head for a robot or manipulator comprising a control casing and at least two shafts perpendicular to each other, with corresponding external members rotatably driven from separate control servo motors, one shaft being rigid with one of said members which supports the other shaft, said servo motors are fixedly mounted in said casing so as to drive at least two coaxial shafts, while the driving of at least one of said perpendicular shafts from one of said coaxial shafts takes place through a bevel gear of which the input pinion is rigid with this one coaxial shaft and the output pinion is rigid with the shaft concerned.This head construction permits assembling the servo motors into a readily accessible unit by providing said coaxial shafts with concentric toothed members in meshing engagement with driving pinion driven in turn from said servo motors, and is applicable notably to robot heads having two or three degrees of freedom.