Abstract: A sealed joint module is for use in association with an arm element of a robotic arm. The arm element may be a link, a seat, a payload interface or the like. The sealed joint module includes a module housing, a hollow joint assembly and a sealing assembly. The hollow joint assembly is operably attached to the module housing. The arm element is operably attachable to the hollow joint assembly. The sealing assembly is operably attached to the joint and to the module housing. The sealing assembly includes a dynamic sealing component between the arm element and the actuator assembly. A modular robot arm includes at least two sealed joint modules and at least one link.

Abstract: A robotic arm includes at least two two-joint modules and at least a first link. Each two-joint module includes a housing, a pair of hollow rotary actuator assemblies and a pair of motor drives. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged such that a back end of the actuator assemblies is inside the housing and a front end of the actuator assemblies extends outwardly of the housing, and attached to the housing such that cables can be fed from the outside of one of the actuator assemblies to the inside thereof and to the inside of the other actuator assemblies to the outside thereof. The pair of motor drives are operably attached to the actuator assemblies and the motor drives are outside the housing.

Abstract: A two joint module includes a housing and a pair of hollow rotary actuator assemblies. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged back to back and attached to the housing such that cables can be fed from the outside of one of the pair of hollow rotary actuator assemblies to the inside thereof and to the inside of the other of the pair of hollow rotary actuator assemblies to the outside thereof. The disclosure also relates to a robotic arm. The robotic includes at least two two joint modules as described herein and at least a first link.

Abstract: The present invention relates to an automated grading process and apparatus for grading an animal carcass. The process includes the steps of generating and receiving signals; determining the location of the ribs in the carcass therefrom; determining a predetermined reference point on the carcass; determining a probing location; and probing the carcass. As an example the predetermined reference point may be the first rib and the probe location may be between the third and fourth ribs. The present invention also includes a method for determining the location of the ribs and a method for determining the first rib. The apparatus includes a base, a clamping sub-system for positioning the carcass and a sensing-probing subsystem.