Abstract: A component includes an additively manufactured component with an internal passage and an additively manufactured elongated member within the internal passage. A method of additively manufacturing a component including additively manufacturing a component with an internal passage; and additively manufacturing an elongated member within the internal passage concurrent with additively manufacturing the component.

Abstract: A method of manufacturing a 3D LDS liner includes providing an LDS sheet, forming 3D contoured liners in the LDS sheet, laser structuring circuit patterns on the 3D contoured liners to provide a laser structured circuit pattern, selectively plating the laser structured circuit patterns to form circuits on the 3D contoured liners, and removing the 3D contoured liners from the LDS sheet. A formed LDS liner includes a thin LDS film having a 3D contoured surface vacuum formed from an LDS sheet. The LDS film includes an inner surface and an outer surface. A laser structured circuit pattern is etched into the LDS film, and a conductive layer is selectively plated on the laser structured circuit pattern forming a circuit on the LDS film. The circuit may have a non-planar region.

Abstract: A manifold assembly for an automobile cooling system includes a crossover tube and a crossover tube cover welded in an opening of the crossover tube A flash trap is provided adjacent the region of the weld joint to receive and capture weld flash migrating inwardly in the crossover tube.

Abstract: A composite solder material for mixing with flux to provide a composite solder paste. The solder material includes a mixture having a relatively low melting solder or solder-forming powder and a relatively high melting Ni-containing reinforcement powder. Use of the solder paste under solder reflow conditions produces a high melting point solder joint by liquid phase diffusion bonding wherein a Ni-stabilized high temperature hexagonal (Cu,Ni)6Sn5 phase is the solder joint matrix that bonds together the Ni-containing reinforcement powder particles. With each reflow cycle, more of the low melting solder or solder-forming powder is converted to the hexagonal (Cu,Ni)6Sn5 matrix phase, raising the final melting temperatures of the post-processed solder joint and giving the solder the ability to withstand higher Joule-heating, all while improving resistance to solder joint cracking.

Abstract: A crossflow table having a housing and a work surface. The housing includes an air intake path in fluid communication with the work surface. The air intake path has an intake entrance and intake exit. A filter and blower unit are positioned adjacent the intake exit. An air exhaust path has an exhaust entrance and exhaust exit. The exhaust entrance is adjacent the filter and blower unit. The air intake path and air exhaust path generally extend parallel to one another. The filter and blower unit draw air into the air intake path at the intake entrance and pull the air though the air intake path where the air exhausts into the filter and blower unit at the intake exit. The blower unit then pushes the air into the air exhaust path at the exhaust entrance and forces the air through the air exhaust path and out the exhaust exit. Due to the intake and exhaust paths being generally parallel to one another, the crossflow table is very compact in overall dimensions.

Abstract: A roll-out wheel has a base housing secured to a working surface. A rolling arm having a lever end and a working end pivots about a hinge point in the housing. A hand wheel and a pipe chuck are rotatably attached to the working end by a rolling sleeve. A pipe to be welded is securable on the pipe chuck and rotatable in unison with the hand wheel. Rotation of the hand wheel permits welding about the perimeter of the pipe without moving the welding tool. A clamping mechanism can permit or prevent rotation of the hand wheel. A pivoting mechanism can raise or lower the working end.

Abstract: A system for out of autoclave bonded repairs which including a fixing structure (1) to the composite area to be repaired, including a frame (4) and fixing parts (5, 19) attached to the frame (4), a movable structure (2) able to be attached either to the fixing structure (1) or to the patch manufacturing table (3), which includes three shafts (6, 6?, 6?) and three engines (7, 7?, 7?) configured to be able to move the tooling support in the three axes X, Y and Z, and a tooling support of either scanning tool (9), milling tool (10), patch cutting tool (11) or composite patch handle tool (11), and a patch manufacturing structure (3).

Abstract: An assembly method is provided by orienting a cylinder-head at a first orientation. A first plurality of spring caps and a first plurality of retainer keys are installed into the cylinder-head in the first orientation by a first robot. A first plurality of valves is installed into the cylinder-head in the first orientation by a second robot, into engagement with the first plurality of retainer keys. An end effector is provided with an actuator supported upon an adapter plate. A shaft extends from the actuator with a mating surface to engage a spring cap. Porting is provided through the shaft to convey pressurized air upon a plurality of retainer keys within the spring cap. A plurality of gripper fingers extend from the distal end of the shaft to grip a valve spring while retaining a spring cap between the valve spring and the mating surface of the shaft.

Abstract: In a method for extending a threaded bolt by tensioning a threaded end section thereof with a tensioning device, an exchange socket of the tensioning device is screwed onto the threaded end section and a first pin end of a pin slidable in the exchange socket is supported against an end of the threaded end section so that the pin moves in longitudinal direction as the exchange socket is screwed on. A sensor senses a longitudinal position of the pin relative to the exchange socket. An evaluation and control unit compares whether the detected longitudinal position of the pin relative to the exchange socket corresponds to a predefined minimum position value indicating sufficient thread engagement length. When the detected longitudinal position corresponds to the predefined minimum position value, the evaluation and control unit acts on the hydraulic supply to tension the threaded end section of the threaded bolt.

Abstract: Machining tool comprising a frame in which a drive shaft for a tool is mounted so as to pivot about a rotation axis and to move axially along the rotation axis. The shaft is connected to two rotary motors, namely a first motor connected to a member for meshing with a fluted portion of the shaft in order to drive the shaft in rotation and a second motor connected to a nut engaged with a threaded portion of the shaft in order to move the shaft axially. The motors are connected to at least one control unit designed to control the motors independently of one another, and the first motor and the second motor are coaxial with one another.

Abstract: A machining device includes: a spindle unit including a spindle that rotates a workpiece; and a device base having the spindle unit mounted thereon. The spindle unit includes upper and lower rolls that rotate the workpiece by contacting the workpiece, upper and lower rotary shafts that rotate integrally with the upper and lower rolls and serves as the spindle, and a support member that supports the workpiece. The device base has mounted thereon the spindle unit, a motor that rotates the upper and lower rotary shafts, and a grindstone to be brought into contact with the workpiece. The spindle unit is detachably mounted on the device base.

Abstract: A tire pre-conditioning system includes a first mandrel, a second mandrel spaced apart from the first mandrel, and a controller in communication with the first mandrel and the second mandrel. The first mandrel is fixedly attached to a first shaft and including a first tapered sidewall. The second mandrel is fixedly attached to a second shaft and including a second tapered sidewall. The controller is operable to axially move the first mandrel and the second mandrel toward one another until the first and second tapered sidewalls are opposing respective beads of a tire, and supply pressurized fluid into an internal cavity of the tire to inflate the tire. The inflating causing the beads to move relative to mandrels while contacting the opposing respective tapered sidewalls to burnish the beads of the tire.

Abstract: The invention relates to a method for controlling an automated orbital sander, in which method an electrically powered orbital sander is moved around automatically, at constant pressure, over the surface of an object, along at least one predefined sanding path so as to perform sanding, characterized in that the instantaneous power consumed by the sander along the sanding path is measured and in that the measurement thus taken is processed in order to deduce therefrom information regarding the level of abrasion along said path and/or to detect any sanding incident that has occurred along the latter.

Abstract: The polishing apparatus has: a polishing pad that has a polishing surface to polish a semiconductor wafer; a polishing table to which a back surface of the polishing pad on an opposite side of the polishing surface can be attached; a top ring that is opposed to the polishing surface, and can hold the semiconductor wafer; and an eddy current sensor that is arranged in the polishing table, and detects an end point of polishing. The polishing table has on an attachment surface a projection member projecting from the attachment surface to which the polishing pad is attached. The back surface of the polishing pad has a concave portion in a portion opposed to the projection member, and at least a part of the eddy current sensor is arranged inside the projection member.

Abstract: A grinding method includes a pre-grinding step of grinding a plate-shaped workpiece to a thickness just before a finish thickness is reached using a finish grinding unit, a thickness measuring step of measuring a thickness of the workpiece after the pre-grinding step, a calculation step of calculating, from the measured thickness of the workpiece, a variation amount of the distance between a holding face of the chuck table and a grinding face of a finish grindstone before and after inclination adjustment of the chuck table, and a height adjustment step of adjusting, on the basis of the variation amount, the inclination of the chuck table while adjusting the height of the finish grinding unit so that the relative moving speed between the finish grindstone and the workpiece in a state in which the grinding face contacts with an upper face of the workpiece becomes equal to zero.

Abstract: A CMP pad conditioner for conditioning a polishing pad. Various embodiments of the disclosure include a plurality of elongated protrusions work a conditioned surface of a polishing pad at a variety of attack angles as the CMP pad conditioner engages the polishing pad. Because of the elongated geometry of the protrusions, the variety of attack angles will tend to flex the conditioned face of the polishing pad in a multifaceted manner. We have found that such multifaceted manipulation of the conditioned face enhances the cut rate of the conditioner assembly and the removal of debris in the pores of the polishing pad that are residual from the CMP process, to better open the pores of the polishing pad and to better maintain the removal rate in the CMP process.

Abstract: An adjustable sanding block that allows for expedited interchanging of sandpaper belts by removing a lateral tension on the belt and reducing the length of the sanding block. A spring loaded heel and a block make up the sanding block, forming a coplanar relationship with opposed inner ends. A rod and spring on the block create a lateral tension against a recess in the heel that retains the belt on the sanding block. The rod and the spring extend from a block inner end, engaging a recess in the heel. The rod passes through the recess, while the spring, having a larger circumference, compresses against a periphery of the recess. This compressive force creates an outward lateral force, which creates lateral tension on the belt for retaining the belt on the sanding block. Applying an inward pressure on the heel removes this tension for mounting and removing the belt.

Abstract: Methods for forming cutting elements, methods for forming polycrystalline compacts, and related polycrystalline compacts are disclosed. Grains of a hard material are subjected to a high-pressure, high-temperature process to form a polycrystalline compact. Inclusion of at least one relatively quick spike in system pressure or temperature during an otherwise plateaued temperature or pressure stage accommodates formation of inter-granular bonds between the grains. The brevity of the peak stage may avoid undesirable grain growth. Embodiments of the methods may also include at least one of oscillating at least one system condition (e.g., pressure, temperature) and subjecting the grains to ultrasonic or mechanical vibrations.

Abstract: A polycrystalline diamond body, and a method for making a carbonate polycrystalline diamond body includes combining a first quantity of diamond particles with a first quantity of magnesium carbonate to form a first layer in an enclosure, the first layer having a working surface, and placing a second quantity of magnesium carbonate in the enclosure forming a second layer, the first layer and the second layer forming an assembly. A quantity of at least one of silicon or aluminum is mixed in with or placed adjacent to at least one of the first layer or the second layer. The assembly, including the at least one of silicon or aluminum, is sintered at high pressure and high temperature, causing the at least one of silicon or aluminum to infiltrate at least one layer of the assembly, forming a polycrystalline diamond body.

Abstract: A workpiece for securing the slide and frame components of a variety of polymeric handgun, the workpiece secured within a vise to alternatively anchor the slide components within linear channels within the sides of the upper extension of the workpiece or anchor the slide extensions incorporated within the inverted frame component within transverse mounted side clamping members attaching through appropriately selected plurality of transverse bores within the workpiece, the workpiece providing a secure attachment for each component for tooling, repair, modification or other gunsmith related activities without damage to the components.

Abstract: An apparatus, an adjustable tool with variable diameter aimed at tightening and twisting nuts, bolts or other prismatic objects, with polygonal section or circular section outlines suitable for performing several actions around different kinds of objects, working on such objects through two different ways to move a variable number of teeth, which, while working, close like a diaphragm around the sides of such objects, perfectly adapting to their diameter and their section or capacity.

Abstract: A recessed fastener includes a head with a top face and a drive socket, a shank extending downward from the head, and threads helically around the shank. The drive socket has a bottom and drive walls extending upward therefrom. The bottom meets the drive walls at a bottom border. The drive walls meet the top face at a top border. The bottom border and the top border have respective first and second corners. The first corners are rotatably offset relative to the second corners. A joining line is connected between each first corner and each second corner, and one drive wall formed between two adjacent joining lines is in a spiral form. The spiral drive walls leads a driving tool toward the bottom to produce an automatic downward pressing force which facilitates the close engagement, thereby obtaining a quick driving operation, an increased driving power and a labor-saving effect.

Abstract: An easy-to-convey heavy duty striking wrench includes a main body having a weight more than 20 kg and having a head and a body integrally connected to the head. The head engaged with a fastener can rotate about a working axis coincident with a rotating axis of the fastener. An axis passes through the center of gravity of the main body and is parallel to the working axis of the head. The main body further includes a first conveying device configured to be applied with a force through manual or mechanical operation to overcome the weight of the main body, permitting conveyance of the main body. The main body is rotatable about the axis to adjust an angular position of the main body relative to the fastener.

Abstract: A torque wrench includes a mechanical structure and an electronic structure. The mechanical structure includes a tubular body, a flexible rod, an abutment member, an elastic member, a trip mechanism, an adjustment mechanism and a mechanical scale indication mounted in the tubular body for indicating the set torque of the wrench. The electronic structure includes at least one torque sensor and a display unit. When correcting the torque value of the mechanical structure, a force is applied to the wrench and the torque sensor detects the trip torque value of the wrench. The torque value of the mechanical structure is adjusted to match the torque value detected by the torque sensor so as to eliminate the error of the torque value of the mechanical structure.

Abstract: A wrench with multiple display windows includes a body, two side display window lighting modules and a main display window lighting module. The two side display window lighting modules are illuminated synchronously with each other. The two side display window lighting modules are corresponding to each other. The two side display window lighting modules, are illuminated toward a first optical axis and a second optical axis. The side display window lighting module includes side display window lighting elements configured to generate side display window colors which are turned on or turned off according to the torque. The main display window lighting module is connected to the body and illuminated toward the first optical axis. The main display window lighting module includes main display window lighting elements configured to generate main display window colors which are turned on or turned off according to the torque.

Abstract: A blind hole puller kit includes a plurality of different sized collets, a plurality of pins, an adapter, and a pulling device. The pins have differently sized first ends corresponding to the collets, and second ends that include a common mounting interface receivable in the adapter. A pin corresponding to a desired collet is configured to be mounted via it mounting interface into the adapter to form an actuating device. The actuating device, via an external thread of the adapter, is configured to be threaded into an internal thread of the collet to actuate tines of the collet to grip the inner surface of a hole to be pulled. An end of the adapter opposite the pin is configured to be mounted to the pulling device, whereby the pulling device can be operated to pull the hole.

Abstract: A tool for preventing a lawnmower blade from rotating while the blade is attached to a lawnmower. The tool includes an elongated shaft having a first end and an opposing second end. A first and second hook extend from the first end of the shaft, wherein the first hook is disposed in a first direction and the second hook is disposed in a second direction. The first direction opposes the second direction and the first hook is offset from the second hook, such that there is a space between the first and second hook. The space between the hooks allows for a lawnmower blade to be received therebetween. The second end of the elongated shaft can be grasped by a user in order to manipulate the placement of the hooks relative to the lawnmower blade.

Abstract: The invention relates to an interface device (100) for tensioning or relaxing a bolt (10) in a nut-and-bolt assembly (10,20), wherein the bolt (10) extends in an axial direction. The interface device (100) comprises a frame (150) having a first end portion (100-1) and a second end portion (100-2), opposite to the first end portion (100-1). The first end portion (100-1) of the frame (150) is provided with a rotatably-mounted nut ring (130) for receiving and rotating a conventional nut (20) provided on the bolt (10) in operational use of the interface device (100). The second end portion (100-2) of the frame (150) comprises a mechanical tensioner nut (190) being configured for reacting on the frame (150) and for receiving a part of the bolt (10) that extends beyond the conventional nut (20) in operational use of the interface device (100).

Abstract: A muzzle suitable for holding different sized nail clamps includes a restricting plate and a movable member. The movable member is coupled to the cover and movable in the restricting direction. The restricting plate is inserted in the nail-hitting track and movable in the restricting direction. Therefore, the restricting plate can be moved to press against the second lateral side of different sized nail clamps to clamp the nail clamp between the lateral surface of the nail-hitting track and the restricting plate, and the nail clamp can be firmly positioned in the nail-hitting track without slipping.

Abstract: A nail gun having a protection structure includes a body, a protection cover and a resilient release. The body includes a nail magazine loaded with nails and includes a barrel connected to the nail magazine. One end of the barrel has a nozzle, and the nail magazine forms a notch close to the nozzle and includes a fastening recess. The protection cover is slidably disposed on the nail magazine. The protection cover includes an engagement board, a sliding board connected to the same, and an engagement hole formed on the engagement board. The resilient release is resiliently assembled in the fastening recess and contacts and presses against an inner edge of the engagement hole, so that the protection cover is positioned by the resilient release, and the sliding board covers the notch.

Abstract: The invention relates to a hand-held or semi-stationary setting device for driving fastening elements into a substrate with the aid of a working piston, said device comprising a housing with an attachment device at one discharge end. In order to simplify the operation of a hand-held or semi-stationary setting device, the working piston is coupled to the attachment device such that when driving a fastening element into the substrate, energy of the working piston is absorbed and is transferred to the attachment device, in order to press the attachment device against the substrate.

Abstract: A magazine structure of a wire staple press is disclosed, which involves an arrangement that a staple receiving compartment of a magazine cartridge forms therein a clamp passage, a first nail passage, and a second nail passage respectively corresponding to a clamp part, a U-shaped nail part, or a T-shaped nail part of a wire staple and the arrangement allows the staple magazine to be used with wire staples having a U-shaped nail part or a T-shaped nail part thereby improving the applicability of the wire staple press and allowing staples of different types to be fed in a stable manner to prevent the staples from curing during a striking operation and thus improving effectiveness and efficiency of operation and the utilization thereof.

Abstract: The invention relates to an impact machine which is adapted to perform a hammering operation on a surface or an object to be worked upon. In particular, a vibration reduction arrangement is attached to the housing and comprises a moveable counterweight, interacting with a motion reversing arrangement having a non-linear spring characteristics, such that the motion of the counterweight can be brought into a counter-acting movement in relation to the vibrations in the housing of the hammering element thus substantially reducing the vibrations. A spring action arrangement is arranged inside said counter weight, the counter weight being movable a first distance without actuating the spring action arrangement, and the counterweight comprises displaceable projecting member for actuating the spring action arrangement.

Abstract: A bit holder for a cordless power drill provides a strap with a buckle and hook-and-loop fastener strips, which enable the user to easily secure the strap tightly around the battery pack of the power drill. An additional hook-and-loop fastener strip is provided on the strap, such that the user may affix a rectangular patch, which is provided, to the strap. The patch provides loops for the drill bits.

Abstract: An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.

Abstract: Robotic devices may be trained by a user guiding the robot along a target trajectory using a correction signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. Training may comprise a plurality of trials. During an initial portion of a trial, the trainer may observe robot's operation and refrain from providing the training input to the robot. Upon observing a discrepancy between the target behavior and the actual behavior during the initial trial portion, the trainer may provide a teaching input (e.g., a correction signal) configured to affect robot's trajectory during subsequent trials. Upon completing a sufficient number of trials, the robot may be capable of navigating the trajectory in absence of the training input.

Abstract: The present invention relates to a teaching data preparation device and a teaching data preparation method for an articulated robot. Pre-existing position data that approximates new position data is retrieved from a database that, from among data related to working points for a pre-existing workpiece, stores for each working point pre-existing position data that indicates the position of the working point and pre-existing orientation data that indicates the orientation of an end effector at the working point. Next, pre-existing orientation data that is associated with the retrieved pre-existing position data is extracted. Next, incomplete new orientation data is completed using the extracted pre-existing orientation data. As a result of this series of processes, the precision of teaching data can be improved.

Abstract: A robot designed for reducing collision impacts during human interaction. The robot includes a robot controller including a joint control module. The robot includes a link including a rigid support element and a soft body segment coupled to the rigid support element, and the body segment includes a deformable outer sidewall enclosing an interior space. The robot includes a pressure sensor sensing pressure in the interior space of the link. A joint is coupled to the rigid support element to rotate or position the link. During operations, the robot controller operates the joint based on the pressure sensed by the pressure sensor. The robot controller modifies operation of the joint from a first operating state with a servo moving or positioning the joint to a second operating state with the servo operating to allow the joint to be moved or positioned in response to outside forces applied to the link.

Abstract: Methods, apparatus, systems, and computer-readable media are provided for selectively deploying robots to performing mapping based on added cost. In various implementations, a measure of interest in mapping an area of an environment may be determined. A cost associated with a robot performing a task may also be determined. Then, an added cost associated with the robot mapping the area of the environment while performing the task may be determined. The robot may be selectively deployed to map the area while performing the task in response to a determination that the measure of interest justifies the added cost.

Abstract: A system and method for a self-contained modular manufacturing device having modular tools and parts configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of controlling the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, a processor disposed in the housing may be configured to control the functional tools (e.g.

Abstract: A system and method for a self-contained modular manufacturing device having self-contained modular tools configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, individual processors disposed in the housing may be configured to control the functional tools (e.g.

Abstract: A system for checking calibration of a multi-axis machine includes a robotic arm and a mount configured to receive a removable machine tool and a controller electronically connected to the multi-axis machine. The removable machine tool includes a removable spray nozzle and a laser housing that is coupled to the machine tool. The laser housing includes a laser affixed inside the housing for emitting a laser beam and a calibration workpiece coupled to a mounting table. The calibration workpiece comprises a plurality of laser sensors disposed along an outer surface of the calibration workpiece. The controller is programmed to point the laser beam at each laser sensor. The laser sensors generate signals that are communicated back to the controller if the laser beam is detected by the laser sensor.

Abstract: A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.

Abstract: A system and method for using locally stored historical performance data with a self-contained modular manufacturing device having modular tools and parts configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes an interface configured to communicate with a remote control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, a processor disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system. Further, historical data may be locally stored and retrieved to tailor the functioning of the modular device.

Abstract: A robot operating apparatus includes a force sensor mounted on the distal end part of an arm unit and a handle supporting unit mounted on the distal end part of the arm unit via the force sensor. The handle supporting unit supports two handles, and a handle structure including the two handles has two force points where forces are applied while being gripped with both hands. The force sensor detects a resultant force of forces acting on the two force points, and transmits the same to a robot control apparatus, so that the distal end part of the arm unit moves in accordance with a direction and a magnitude of the resultant force detected by the force sensor.

Abstract: A mobile robot comprising a trunk and several limbs removably linked to the trunk comprises: for each of the limbs, means for prepositioning the limb on the trunk, and a single flange linked to the trunk and configured to removably fix all the limbs to the trunk. Each of the limbs comprises a motorized articulation, via which the limb is positioned and fixed onto the trunk, and can be driven in movement relative to the trunk.

Abstract: A joint mechanism includes: a first member; a second member that includes a first portion and second portion; a gear device including a crank shaft on which a first eccentric portion is formed, a first oscillating gear that has first external teeth and a first insertion hole, a carrier that retains the crank shaft, and an external cylinder that has internal-tooth pins. The carrier and the external cylinder are configured to be displaced coaxially due to oscillation of the first oscillating gear. The joint mechanism further includes a first fixing member that fixes the external cylinder to the first member, and a second fixing member that fixes the carrier to the second member. The second fixing member includes a one-side fixing member that fixes the carrier to the first portion and an other-side fixing member that fixes the carrier to the second portion.

Abstract: A movement conversion apparatus has a frame, a plurality of auxiliary moving bodies connected to the frame to allow linear movement, a plurality of actuators configured to move the plurality of auxiliary moving bodies with respect to the frame, a main moving body surrounded by the plurality of auxiliary moving bodies and connected to the plurality of auxiliary moving bodies to have a hollow formed therein, and a rotating body rotatable on the basis of a rotary shaft fixed through the hollow. The plurality of auxiliary moving bodies are selectively moved to adjust a location of the main moving body. The rotating body is inserted into the hollow to rotate by a movement of the main moving body.

Abstract: A multi jointed robot arm which enables the use of a small space, in which a first arm member is supported to be capable of rotation in relation to a pair of support members, which are provided to stand on a base member at a predetermined width interval, by a first joint, further, a second arm member is supported to be capable of rotation in relation to the first arm member by a second joint, in which the second arm member holds a robot hand which grips a work on an opposite side from the second joint, the first arm member includes a pair of side portions which join the first joint and the second joint, and a storage space into which the second arm member enters between the pair of side portions is provided

Abstract: In embodiments, a subsea manipulator tool changer comprises an ROV attachable standardized tool receiver and a tool, the subsea manipulator tool changer comprising a standardized tool latch and a standardized tool latch receiver whereby tools can be attached and detached subsea. In other embodiments, a system for changing tools while subsea comprises an ROV, a subsea manipulator tool changer, and a tool caddy configured to accept and release a tool where the tool comprises the standardized tool latch receiver.