Abstract: The invention concerns a device forming a robotic finger comprising a base (100) forming a palm, at least one knuckle (500, 700, 900) articulated on the base (100) about two separate joints (200, 400) non-parallel to each other, at least two actuators (110, 120, 130, 140) and cable-linking means (112, 122) respectively linking the two actuators (110, 120) to drive elements of said two joints (200, 400), characterized in that the device comprises guide means (150, 151, 152) designed to guide the cables involved in the control of each joint (400, 600, 800) located after the first joint (200) on the base (100), in a common plane passing through the axis (202) of said first joint (200).

Abstract: The invention concerns a device forming a robotic finger comprising a base (100) forming a palm, at least one knuckle (500, 700, 900) articulated on the base (100) about two separate joints (200, 400) non-parallel to each other, at least two actuators (110, 120, 130, 140) and cable-linking means (112, 122) respectively linking the two actuators (110, 120) to drive elements of said two joints (200, 400), characterised in that the device comprises guide means (150, 151, 152) designed to guide the cables involved in the control of each joint (400, 600, 800) located after the first joint (200) on the base (100), in a common plane passing through the axis (202) of said first joint (200).

Abstract: The invention relates to an electronic board (C) comprising: a microcontroller; a first interface means (11) with a communication bus (BUS); and a second interface means (12) with a supervisory computer (SUP); said microcontroller being programmed for: receiving first commands across said second interface means; extracting, from said commands, a piece of addressing information and, on the basis of said information, executing said first commands or moreover transmitting them over said communication bus; and receiving second commands from said communication bus and executing them. The invention relates to a system comprising: a communication bus; a plurality of electronic boards such as described above, connected to said communication bus, at least one of said boards also being connected to a respective supervisory computer. The invention also relates to a robotic system comprising such a built-in control system.

Abstract: The invention relates to an electronic board (C) comprising: a microcontroller; a first interface means (11) with a communication bus (BUS); and a second interface means (12) with a supervisory computer (SUP); said microcontroller being programmed for: receiving first commands across said second interface means; extracting, from said commands, a piece of addressing information and, on the basis of said information, executing said first commands or moreover transmitting them over said communication bus; and receiving second commands from said communication bus and executing them. The invention relates to a system comprising: a communication bus; a plurality of electronic boards such as described above, connected to said communication bus, at least one of said boards also being connected to a respective supervisory computer.

Abstract: The invention relates to a robot for large-format, three-dimensional printing on a fixed surface, using five powered spindles. The inventive robot comprises an inkjet printing block, means for moving and orienting said printing assembly along several axes, at least one unit for controlling said means and a device for drying the ink sprayed onto the surface. According to the invention, the aforementioned movement and orientation means comprise: a support having three degrees of freedom in translation, which is used to position the printing assembly by enabling translational movements along horizontal, vertical and depth axes; and a wrist having two degrees of freedom in rotation, which is used to position and orient the printing assembly by enabling same to rotate in relation to two perpendicular axes. The invention also relates to a method of using said robot.

Abstract: The invention concerns a print robot for large format three-dimensional printing on a fixed surface (11) having five motorized axes, comprising an inkjet printing block (13), means for displacing and orientating this printing assembly along several axes, at least one control unit controlling these means and a drying device to dry the ink sprayed onto said surface (11), wherein these means comprise: a carrier (15) with three degrees of freedom in translation, ensuring the positioning of the printing assembly allowing its horizontal, vertical and depth translation, a wrist (16) with two degrees of freedom which supports and orientates the printing assembly (13) allowing its rotations along two perpendicular axes. The invention also concerns a process implementing this robot.

Abstract: A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.