Abstract: There is provided a titanium-copper alloy in which the adhesion strength with solder can be increased. The titanium-copper alloy comprises a base material and a plating layer provided on a surface of the base material, wherein the base material contains 1.5 to 5.0% by mass of Ti with a balance consisting of copper and unavoidable impurities, and the plating layer is selected from the group consisting of a Ni plating layer, a Co plating layer, and a Co—Ni alloy plating layer.

Abstract: Embodiments of a welding power supply include an engine adapted to drive a generator to produce a first power and a energy storage device adapted to discharge energy to produce a second power. The welding power supply also includes control circuitry adapted to detect a commanded output. The control circuitry is adapted to meet the commanded output by controlling access to power from the energy storage device to produce the second power when the commanded output is below a first predetermined load level. The control circuitry is further adapted to meet the commanded output by controlling access to power from the engine and the energy storage device to produce the first power and the second power when the commanded output is above a second predetermined load level.

Abstract: A diffuser insert is provided for use with a welding diffuser and contact tip assembly comprising a diffuser with an interior chamber configured to receive a wire conduit that supplies electrode wire and a shielding gas used during a welding operation and a contact tip coupled to the diffuser and configured to receive electrode wire. The diffuser insert comprises a diffuser insert body configured to be disposed within the interior chamber of the diffuser, and further comprises an insert bore extending therethrough configured to receive electrode wire. An outer periphery of the diffuser insert has at least one surface feature configured to manipulate a flow of said shielding gas from within said interior chamber of the diffuser and out of exit passages to thereby direct said flow of shielding gas about a molten welding puddle formed during a welding operation.

Abstract: An upper electrode assembly for welding fasteners includes a body that supports an electrode that has an aperture. The aperture is configured to receive a movable pin of a lower electrode assembly arranged opposite the upper electrode assembly. The lower electrode assembly supports a fastener in a welding position. The upper electrode assembly includes a position sensor which includes a position sensor member that is arranged in the body and is configured to cooperate with the pin to detect a fastener welding characteristic.

Abstract: One aspect of the invention relates to a method for producing a circuit carrier. For this purpose, an electrically insulating carrier is provided, having an upper side and also an underside opposite from the upper side. A first metal foil and a hardening material are likewise provided. Then, an upper metallization layer, which is arranged on the upper side and has a hardening area, is produced. In this case, at least one contiguous portion of the hardening area is created by at least part of the hardening material being diffused into the first metal foil.

Abstract: A process for solid state deposition of a material onto a workpiece includes the steps of providing a rod of metallic deposition material, exerting pressure at one end of the rod to move the metallic deposition material into a deposition zone, rotating the rod while the pressure is being exerted to generate frictional heat when the rod contacts a surface of the workpiece, and raising the temperature of the metallic deposition material to reduce the amount of frictional heat which needs to be generated during the rotating step and to produce a microstructure which is substantially free of porosity and which has a fine grain size.

Abstract: A process is disclosed for controlling the length of chips or shavings on materials that is inherent to produce long undesired chips when machined. Based on the work piece configuration and surface area to machine a determined outlay and process application for a continuous scribe or arrangements of different scribe pattern or patterns for the part and or surface is selected to provide optimal chip control during the machining operation. Engineered Interruptions are applied to the work object prior to the machining operation to maximize optimal chip control. Controlling the depth of scribe of the laser is accomplished and managed through the interface of hardware, software and electronics.

Abstract: A method for joining a workpiece by means of a welding head, in which at least one line of light is generated on a workpiece, which crosses a joint line at a site to be joined and a joint seam generated at a joined site after processing. The lines of light are imaged at the site to be joined and at the joined site in order to generate reference data relating to the geometry of the site to be joined and measurement data relating to the geometry of the joined sites. The reference data and the measurement data are then compared at one and the same workpiece site before and after processing, in order to determine the geometry of the joint seam independently of the geometry of the site to be joined.

Abstract: A laser processing apparatus including a processing nozzle for irradiating a workpiece with laser beam, a driving mechanism for relatively moving the processing nozzle and the workpiece, and a gap sensor for detecting a gap between the processing nozzle and the workpiece. The apparatus includes a gap control section referring to a measured value detected by the gap sensor and calculating a manipulating variable used for controlling the driving mechanism so as to maintain the gap during execution of laser processing at a first dimension, a power monitoring section monitoring electric power from a power supply and sending an abnormality detection signal to the gap control section when a power abnormality occurs, and a control action switching section switching a control action of the gap control section so as to increase the gap from the first dimension when the abnormality detection signal is sent to the gap control section.

Abstract: A laser irradiation apparatus may include: an irradiation head section including first and second irradiation heads each configured to perform laser light irradiation on a workpiece; a laser unit section including first and second laser units configured to respectively output first laser light and second laser light; a beam delivery section provided in an optical path between the laser unit section and the irradiation head section, and configured to perform switching of optical paths between optical paths of the first laser light and the second laser light to cause the first or second laser light to enter the first or second irradiation head; a first beam property varying section provided in an optical path between the first laser unit and the irradiation head section; and a second beam property varying section provided in an optical path between the second laser unit and the irradiation head section.

Abstract: Reliable coupling of a high-power laser beam into a liquid-jet in a liquid-jet guided laser system can be achieved with high lifetime performance of the nozzle and the protection window, through setting the parameters of the liquid-jet guided laser system according to an optimum relationship that links the focus point of the laser, the focus cone angle, the laser beam energy distribution profile and the nozzle geometry.

Abstract: The invention relates to a crossjet assembly for generating a gas flow that is conducted between a laser source (40, 41) and a welding region (42) in order to remove contaminants moving towards the laser source. The gas flow crosses the region between the laser source and the welding site numerous times.

Abstract: The present invention provides a fillet welded joint and a method of production of a fillet welded joint which can raise the productivity of the method of production of a fillet welded joint and a fillet welded joint without sacrificing the strength against fatigue fracture of the welded structural member. The fillet welded joint of the present invention is a fillet welded joint formed by fillet welding at least two metal members, wherein, on the surface of at least one of the metal members, the fillet welded joint comprises a press bead of a rib-shaped projection provided by press-forming so as to project upward to the side having a weld bead formed by the fillet welding, and part of the press bead contacts or overlaps the weld bead.

Abstract: A brazing composition contains 1 part by mass or more and 10 parts by mass or less of Zn powder, 1 part by mass or more and 5 parts by mass or less of Si powder, 3 parts by mass or more and 10 parts by mass or less of K—Al—F flux, 1 part by mass or more and 3 parts by mass or less of (meth)acrylic resin, wherein the mass ratio (Zn/Si) of Zn powder relative to Si powder is 1 or more and 5 or less.

Abstract: A method of aligning a subject tooling element of a material handling system of an ultrasonic bonding system is provided. The method includes the steps of: a) providing an overlay defining a relative position of at least a portion of a reference tooling element; b) viewing an image of at least a portion of the subject tooling element combined with a corresponding portion of the overlay; and c) adjusting a position of at least a portion of the subject tooling element by referring to the overlay in the image.

Abstract: An extruded multi-port tube for use in a heat exchanger comprises a main body extending longitudinally from a first end to a second end thereof. The main body is divided into a plurality of longitudinally extending segments. Each of the ports formed in the main body extend from the first end to the second end thereof for conveying a fluid therethrough. Each of the ports extend substantially parallel to the main body along each of the segments thereof. Both the main body and each of the ports of one of the segments are offset laterally relative to both the main body and each of the ports of an adjacent one of the segments.

Abstract: Blind inserts for use with sandwich panels and methods for manufacturing the same. A blind insert can include a nut arranged in an insert. The insert can include a cavity at an end of the nut. When a screw is screwed into the nut, the screw can enter the cavity and dig into the insert. The interference between the insert and the screw can provide friction that prevents the screw from loosening in a vibrating environment. The blind insert can be made by placing a mandrel into the nut. The mandrel includes a nose that extends past the end of the nut. When the insert is molded around the nut, the mandrel prevents mold material from entering a threaded aperture of the nut and forms the cavity in the insert. The blind insert can also be made by placing a cap that defines the cavity on the end of the nut. The insert can be molded around the cap and the nut.

Abstract: An automated pallet inspection and repair apparatus comprises an inspection station and a repair station. The inspection station comprises a laser that illuminates a pallet, a camera that collects the reflected light and a computer system. The computer system analyzes the output of the camera and acquires the pallet's geometry and topography. The design of the pallet is determined by the computer software. A decision to repair the pallet is made by comparing acquired pallet data against the design criteria. If the pallet needs repair, a recipe of repair steps is constructed by inspecting each of the pallet's elements. The recipe is transmitted to the automated repair station.

Abstract: A tool pot includes a resin-made pot body and a metallic reinforcing member embedded in the pot body by insert molding. The reinforcing member is provided with a reinforcing plate embedded in a portion including a horizontal pin insertion portion in the pot body. The reinforcing plate is provided with a lightening hole so as to avoid the horizontal pin insertion portion.

Abstract: To provide a tool transfer apparatus including gripping force measuring unit for tool holding unit of a tool accommodation apparatus and a machining system including the tool transfer apparatus, a handling robot can perform operation of detaching a tool from a grip positioned at a tool attachment/detachment position of a tool magazine in a machine tool and transferring the tool to a tool stocker, and operation of transferring a tool from the tool stocker and attaching the tool to a grip positioned at the tool attachment/detachment position of the tool magazine. A hand portion of the handling robot is provided with a force sensor, which can detect a load applied to the hand portion. Also, a control apparatus of the handling robot and a control apparatus of the machine tool are connected via a data cable capable of transmission and reception of information.

Abstract: The invention relates to an edging pad for releasably connecting a material blank that is to be edged to a holder, wherein the edging pad has a polymeric carrier layer and adhesive coatings which are applied to both sides of the polymeric carrier layer, wherein one side of the polymeric carrier layer, which is to be connected to the holder, has an adhesive coating formed of a first adhesive, and the other side of the polymeric carrier layer, which is to be connected to the material blank, has an adhesive coating formed of a second and a third adhesive which are different from one another, such that the second adhesive provides adhesiveness to the material blank and the third adhesive is an adhesive which limits twisting and slippage of the polymeric carrier layer relative to the material blank, wherein the second adhesive and the third adhesive are applied to the other side of the polymeric carrier layer in separate regions.

Abstract: A polymeric material suitable for use in lapping processes, media including the polymeric material, systems including the media, and methods of forming and using the polymeric material are disclosed. The polymeric material can be used to lap hard surfaces, such as sapphire surfaces. The lapping process can be performed after a grinding process and before a polishing process.

Abstract: A polishing apparatus which can allow easy replacement of a retainer ring and can allow the retainer ring to be secured to a drive ring without causing deformation of the retainer ring is disclosed. The polishing head includes a head body having a substrate contact surface, a drive ring coupled to the head body, and a retainer ring surrounding the substrate contact surface and coupled to the drive ring. A first screw thread is formed on the drive ring, a second screw thread, which engages with the first screw thread, is formed on the retainer ring. The second screw thread extends in a circumferential direction of the retainer ring.

Abstract: A method and compression roller tool for increasing the strength of load-bearing surfaces on shafts, in particular on crankshafts, which surfaces are pre-machined with the removal of chips, wherein the cylindrical surfaces of the main bearing journals and pin-bearing journals and optionally also the journal of crankshafts have additional oil bores. At least one of the load-bearing surfaces is compression-rolled by way of at least one cylindrical body which has a surface structure and extends over the width of the load-bearing surface. Afterwards, the compression-rolled load-bearing surfaces are machined with the removal of chips with a low chip depth. The compression roller tool consists of a cylindrical compression roller body and a supporting body opposite it, wherein the compression roller body has thickened portions on its cylindrical surface, which thickened portions run either in the circumferential direction or in the axial direction or diagonally with respect to the axial direction.

Abstract: The housing of a grinding spindle unit is pivotably mounted by way of a pivot axle on the receiving part of a grinding machine, e.g., on a grinding headstock. The grinding spindle unit bears a grinding wheel which is driven in rotation. The actuation of an adjusting unit extends a pressure pin, which pivots the housing of the grinding spindle unit about the pivot axle and thus slants the grinding wheel. The pivot axle is in this case formed as a film hinge through a zone of targeted elastic material deformation. A tensile spring device brings about constant contact between the pressure pin and the receiving part.

Abstract: A method of grinding the tooth slots of a workpiece with a freshly dressed grinding wheel wherein dual-machining of tooth slots is eliminated. The method comprises grinding the first few slots of a gear at a corrected depth amount which accounts for the rapid wear and other conditions of the freshly dressed grinding wheel wherein for a first number of tooth slots (e.g. 1, 2, 3 or more), the grinding wheel is fed-in relative to the workpiece by the corrected depth amount.

Abstract: A compartmentalized multiple container base apparatus for separation and recovery of used contaminated abrasive blasting material at a remote work site. A self-contained unitized storage and cleaning system including cyclonic separation, multiple stage dust filters and magnetic drum, air wash and vibratory separation in a flow through contaminate and blast media separation process.

Abstract: A grinding wheel includes a disc-like member and a grinding stone layer disposed on an outer peripheral surface of the disc-like member. A grinding surface of the grinding stone layer includes a cylinder grinding surface, end grinding surfaces, and corner grinding surfaces. The grinding stone layer includes a cylindrical-portion grinding stone layer including a part of the corner grinding surfaces and the cylinder grinding surface, and end grinding stone layers including the remaining part of the respective corner grinding surfaces and the respective end grinding surfaces and having a property different from a property of the cylindrical-portion grinding stone layer. Joint surfaces are each formed by joining a boundary surface of the cylindrical-portion grinding stone layer and a boundary surface of the end grinding stone layer such that the boundary surfaces have a preset inclination ? to an axis of rotation.

Abstract: A method of forming a chemical mechanical polishing pad composite polishing layer is provided, including: providing a first polishing layer component of a first continuous non-fugitive polymeric phase having a plurality of periodic recesses; discharging a combination toward the first polishing layer component at a velocity of 5 to 1,000 m/sec, filling the plurality of periodic recesses with the combination; allowing the combination to solidify in the plurality of periodic recesses forming a second non-fugitive polymeric phase giving a composite structure; and, deriving the chemical mechanical polishing pad composite polishing layer from the composite structure, wherein the chemical mechanical polishing pad composite polishing layer has a polishing surface on the polishing side of the first polishing layer component; and wherein the polishing surface is adapted for polishing a substrate.

Abstract: Vise grip pliers capable of stably clamping an object with a simpler structure than that of normal vise pliers and also providing a vise grip function by means of a simple operation. To this end, the present invention has first and second jaws formed at the front end of a body, forms a space in which a ring pin can be provided, by outwardly bending handles, and then rebending the same without extending the handles immediately after hinge parts cross each other, in addition to, one hinge crossing the jaws in an X-shape by a hinge pin (P), and ensures the vise grip function by providing a tapered ring in the ring pin space, and then recrossing the handles in an X shape.

Abstract: A socket fusion jig includes a pipe saddle and coupling saddle spaced apart. Rotation of a handle causes the pipe saddle and coupling saddle to move laterally relative to one another so that the pipe held in the pipe saddle may be fused to the coupling held in the coupling saddle.

Abstract: A right-angle socket for ratchet tools includes a hexagonal drive port adapted to receive interchangeable interface fittings, or adapters, which accept ratchet drives from various styles of ratchets. The interface fitting journals within and coaxial with the hexagonal drive port and is held in place by a keeper such as a spring ball. A coaxial port within the interface fitting accepts one type of conventional ratchet drive, such as a square drive, of selected size commonly available. Other interface fittings accept other types of ratchet drives, such as pass-through drives. The interface fitting may be inserted from either side of the socket and includes a circumferential groove that receives the keeper to hold the interface fitting axially affixed within the hexagonal port. Both single and double-sided interface fittings are provided, as well as swivel fittings.

Abstract: A ratchet wrench with tooth breakage resistance includes a body having a driving hole and a transmission hole intersecting with the driving hole. An inner periphery of the driving hole includes two adjoining portions on opposite sides of the transmission hole. An arcuate portion extends between the two adjoining portions. A tooth breakage preventing device is mounted in the arcuate portion and is configured to be in contact with one of first and second outer toothed sections of either of two first pawls to prevent tooth breakage between a toothed portion of the driving hole and the one of the first and second outer toothed sections of either of the two first pawls when the body is rotated to provide a ratcheting function for driving the fastener.

Abstract: An adjustable universal pipe fastening tool is configured such that mechanical elements, particularly fastening members such as bolts and nuts and pipes, can be easily fastened and unfastened using a single tool, thereby ensuring a convenient use. Particularly, an adjustable universal pipe fastening tool having a spanner portion is provided, which is configured to rotate, and a wrench portion, which is configured to be able to slide. The adjustable universal pipe fastening tool according to the present invention comprises: a body portion, which has a sliding hole formed on a surface thereof; a spanner portion formed on one side of the body portion so as to manage fastening and unfastening of mechanical elements; and a wrench portion formed on the other side of the body portion so as to manage fastening and unfastening of mechanical elements while sliding inside the sliding hole of the body portion.

Abstract: A power tool, comprising: a housing; a motor being disposed in the housing for outputting rotary power; an output shaft having an accommodating hole in the axial direction for holding a tool bit; a transmission mechanism, being disposed between the motor and the output shaft for transmitting rotary power from the motor to the output shaft; a tool bit supporting being disposed in the housing and including several chambers disposed in parallel for holding the tool bit; a connecting member being disposed in the housing and capable of moving axially between a working position where the connecting member passes through one of the chambers and to accommodate the tool bit in the chamber connect the output shaft, and a release position where the connecting member exits and separates from one of the several chambers; and an operating member is arranged on the housing for controlling the axial movement of the connecting member; the power tool further includes an automatic shifting means for adjusting the position of th

Abstract: A bit accessory for a bit has a sleeve with an accommodating cavity running through the sleeve and a limiting member with a limiting hole running through the limiting member. The sleeve includes a first stopping portion for stopping the limiting member from passing through the accommodating cavity and the limiting member includes a first hole wall portion forming a first hole wall which provides the limiting hole with a minimum hole diameter and a second hole wall portion forming a second hole wall which provides the limiting hole with a maximum hole diameter. The limiting member is at least partly accommodated in the accommodating cavity, and a direction which the limiting hole runs through the limiting member is parallel to the accommodating cavity when the limiting member is stopped by the first stopping portion.

Abstract: An auxiliary device of screwdriver refers to an auxiliary device attached on a screwdriver, which is adapted for keeping coupled on a recess close to an end of the screwdriver. The auxiliary device has an expanding portion and a hollow column formed by the extension of the expanding portion. An end of the expanding portion has a magnetic element arranged thereon. The hollow column is formed by connecting a plurality of ribs and walls. The inner margin of the hollow column extends to form a plurality of locking portions that allow the housing to couple with the screwdriver, wherein the auxiliary device is able to pivot on the screwdriver.

Abstract: A torque wrench includes a main tube having a driving head and a receiving hole on two ends thereof. A ratchet tube is inserted into receiving hole and has multiple elongate positioning recesses. A passage is defined axially through the ratchet tube. An operation tube is mounted to the ratchet tube and has a driving section and a holding section, and a connection hole is defined through the driving section and the holding section. The driving section has an engaging hole in which a bead is received. A torque unit is received in the receiving hole, the passage and the connection hole. The torque is set by rotating operation tube. A control tube is mounted to the driving section and has a bolt movable in an L-shaped slot to release and restrict movement of the control tube relative to the operation tube.

Abstract: An adapter for a ball stud separator tool may include a cylindrical body. The cylindrical body may include a threaded end and a mating end oppositely facing the threaded end. A plurality of adapter threads may be recessed into the cylindrical body proximate the threaded end and may be configured to threadably receive a plurality of ball stud threads of a ball stud. A flared cylindrical wall may be recessed into the cylindrical body proximate the mating end. The flared cylindrical wall may terminate at a curved seat disposed in the cylindrical body.

Abstract: The hammer tacker includes a shell, a handle, and a striking mechanism. The shell is made of a mixture of fiberglass and nylon by injection molding. The shell encloses a receiving room and has a bottom opening extending along the longitudinal direction of the shell and communicating with the receiving room. The handle is disposed on the rear end of the shell. The striking mechanism is made of metal and includes a magazine and a striker. The magazine is received in the receiving room. An end of the magazine is pivotally connected to the rear end of the shell, and the other end tends to move outward due to an elastic element. At end of the striker is disposed on the inner wall of the shell. When the magazine is hit upward, the striker strikes the nails out.

Abstract: A hydraulic tool includes a handle having a trigger, a tool head, a tool body, a pump, a first actuator, a second actuator, and a conduit. The tool head has a first jaw and a second jaw. The tool body includes a first portion, an extension, and a second portion positioned between the handle and the tool head. The pump is activated by the trigger to displace a first fluid. The first actuator is moveable by the displacement of the first fluid to displace a second fluid. The second actuator is moveable by the displacement of the second fluid to cause movement of at least one of the first and second jaws. A conduit provides fluid communication between the first actuator and the second actuator.

Abstract: Disclosed is an oscillatingly driven machine tool including a tool spindle that is mounted pivotably about its longitudinal axis, further including a drive motor that is coupled to a hydraulic generator for generating an oscillating fluid flow which drives a hydraulic motor being configured as a rotor blade motor. The rotor blade motor drives the tool spindle in such a way that the tool spindle rotates oscillatingly about its longitudinal axis. The rotor blade motor includes symmetrically arranged rotor blades that are disposed at regular angular distances with respect to each other.

Abstract: A working head for a hydraulic power tool including a head frame and a first moveable die head configured to move along the working head frame. The first moveable die head configured to receive a first moveable die comprising a first body length. A second die head is adapted to receive a second die comprising a second body length. The first body length of the moveable die is different from the second body length of the stationary die.

Abstract: A combined housing for a power tool has an inner housing body and an outer layer body attached to the outside of the inner housing body. The combined housing has at least one vibration-suppressing area. The vibration-suppressing area is provided with a plurality of vibration-suppressing structure units and each vibration-suppressing structure unit has a unit channel formed by the inner housing body and a unit groove formed by the outer layer body and arranged on one end of the unit channel. The unit groove and the unit channel of each vibration-suppressing structure unit form a vibration-suppressing cavit, and the outer layer body serves as the outside of the outer housing.

Abstract: An auxiliary handle is disclosed. The auxiliary handle has a frame-shaped grip which has a grip bar for gripping by a user, a crossbar, and two flanks connecting the grip bar to the crossbar. A loop-shaped clamping element is fastened to the crossbar for placing on a neck of a handheld machine tool. A clamping mechanism serves for clamping the element about the neck of the handheld machine tool. The frame-shaped grip has a frame-shaped base body molded from a first plastic, which has a solid body joint in each of the regions of the flanks. A casing made from a second plastic encloses the fame-shaped base body in the region of the grip bar and the solid body joints.

Abstract: A wrench extension tool is disclosed. The wrench extension tool may be used to engage a wrench in order to increase leverage and provides multiple attachment positions in which the wrench may be engaged.

Abstract: A portable tool stand having automatically deployable legs. The tool stand has a body with a work surface and opposed ends. Deployable legs are pivotally mounted to the tool stand. The legs move between a stored position adjacent to the body and a support position wherein the legs are deployed to support the body. Retractable arms are mounted to each end of the body and slide with respect to the body. The deployable legs and the arms are operably connected such that sliding the arms with respect to the body moves the legs between the stored position and the support position.

Abstract: A sawhorse includes a body portion comprising an elongated portion, a first housing and a second housing. The first and second housings are connected to the elongated portion, with the second housing spaced from the first housing. First and second pairs of folding legs are pivotally attached to the first and second housing respectively, pivotable between open and folded positions. The first housing comprises a receiving region for receiving a distal end of the second pair of legs when in the folded position, the first receiving region comprising a first latch arranged to engage the second pair of legs, and the second housing comprises a second receiving region for receiving a distal end of the first pair of legs when in the folded position, the second receiving region comprising a second latch arranged to engage the first pair of legs.

Abstract: A tool holder comprises a first pair of opposing sides and a second pair of opposing sides. The second pair of opposing sides is disposed intermediate the first pair of opposing sides. The tool holder includes an at least one pocket attached to at least one of the sides. A first pair of straps connect a top edge of each of the first pair of opposing sides. The tool holder is configurable between an expanded position and a collapsed position.

Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.