Abstract: A robot installation includes a first robot and a second robot. The first robot is attached to a fixed position in relation to the second robot such that the second robot lies within a reach of at least one drive arm of the first robot.

Abstract: A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other.

Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

Abstract: A parallel kinematics robot has a first drive arm and a second drive arm, the two drive arms being crossed when the robot operates within its normal work area. The drive arms thereby occupy less space in a horizontal direction compared with a situation where the two drive arms point away from each other.

Abstract: A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other.

Abstract: A parallel kinematics robot has a first drive arm and a second drive arm, the two drive arms being crossed when the robot operates within its normal work area. The drive arms thereby occupy less space in a horizontal direction compared with a situation where the two drive arms point away from each other.

Abstract: A robot installation includes a first robot and a second robot. The first robot is attached to a fixed position in relation to the second robot such that the second robot lies within a reach of at least one drive arm of the first robot.

Abstract: A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.

Abstract: A method for manufacturing a joint. A ball is mounted on a pin. Spherical surfaces on at least two socket parts are machined. Grinding paste is applied on the ball and/or on the surfaces of the socket parts. The pin is connected to an equipment that rotates the ball. The ball is assembled between the socket parts. A pressure is applied between the socket parts and the ball. The ball is rotated and tilted over the working range of the joint. The ball and the socket parts are cleaned from the grinding paste. The joint is assembled by mounting the socket parts on a ball. A robot obtainable with the method.

Abstract: An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

Abstract: A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.

Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.

Abstract: An industrial robot for moving an object in space comprising a stationary platform, a movable platform arranged for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and being rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and being rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and being rotatable around a third axis, and a third linkage. The first and third axes are arranged in parallel and the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.

Abstract: An industrial robot including a platform arranged for carrying an object. A first arm is arranged for influencing the platform in a first movement and includes a first actuator having a first path and a first carriage linearly movable along the first path. A second arm is arranged for influencing the platform in a second movement, and includes a second actuator having a second path and a second carriage linearly movable along the first path. A third arm is arranged for influencing the platform in a third movement. A control unit controls the movements of the platform. The first and second arms are arranged rotatable in such way that the platform is movable between opposite sides of a second plane passing through and continuously following the first and second carriage. The control unit includes a control adapted to upon command perform a reconfiguration of the platform and the arms of the robot. The reconfiguration includes moving the platform between opposite sides of the second plane.

Abstract: A method and a system for programming an industrial robot to move relative to defined positions on an object. The system includes a geometrical model of the object, the real object, and an industrial robot. A plurality of measuring points are generated corresponding to different points on the surface of the real object expressed in a coordinate system associated with the robot. The system further includes a calibration module arranged to determine orientation and position of the geometrical model of the object relative to the coordinate system associated with the robot, a calculating module arranged to calculate the deviation between the measuring points and corresponding points on the geometrical model, and an adjusting module arranged to adjust the defined positions based on the calculated deviations.

Abstract: Method for optimizing the movement performance of an industrial robot for a current movement path with respect to thermal load on the driving system of the robot, wherein the method comprises the following steps: for at least one component in the driving system, the thermal load is calculated for the whole or parts of the movement path if the calculated thermal load is compared with a maximally allowed load for the component; and dependent on said comparison, a course of accelerations and velocities for the current movement path are adjusted.

Abstract: An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage. The second supporting arm is freely mounted around a cross-beam that is arranged at right angles to the second axis.

Abstract: An industrial robot for movement of an object in space comprising a platform arranged for carrying the object, a first arm arranged for influencing the platform in a first movement and comprising a first actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the first actuator, a second arm arranged for influencing the platform in a second movement and comprising a second actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the second actuator, and a third arm arranged for influencing the platform in a third movement and comprising a third actuator and a link, which comprises an outer joint arranged in the platform and an inner joint arranged in the third actuator.

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′