Abstract: The present invention concerns a piece of equipment (1) suited to process a glass sheet (L), comprising an edging device (8) and a workbench (4) suited to be mutually moved with respect to each other in order to allow an edging operation to be performed by the edging device (8) on at least one edge (B1, B2) of a piece resulting from a cutting step during which the glass sheet (L) has been cut, the workbench (4) being suited to define the workbench (4) for the cutting step.

Abstract: A method for outer surface finishing of a workpiece may include coaxially placing the workpiece inside a vessel. The exemplary vessel may include at least one baffle that may radially extend from an inner wall of the vessel toward the outer surface of the workpiece. The exemplary method may further include pouring an abrasive medium inside the vessel, rotating the abrasive medium about the longitudinal axis in a first direction within the vessel relative to the outer surface of the workpiece by rotating the vessel about the longitudinal axis, and concurrently rotating the workpiece within the vessel about the longitudinal axis in a second direction, the second direction being opposite the first direction.

Abstract: An apparatus for polishing a substrate includes a rotatable polishing table supporting a polishing pad, a substrate holder configured to hold the substrate and press the substrate against a polishing surface of the polishing pad on the rotating polishing table so as to polish the substrate, and a pad-temperature detector configured to measure a temperature of the polishing surface of the polishing pad. The apparatus also includes a pad-temperature regulator configured to contact the polishing surface to regulate the temperature of the polishing surface, and a temperature controller configured to control the temperature of the polishing surface by controlling the pad-temperature regulator based on information on the temperature of the polishing surface detected by the pad-temperature detector.

Abstract: A polishing pad is held using a polishing table. The polishing table is driven to rotate using a first electric motor. The top ring for holding a semiconductor wafer and pressing the top ring against a polishing pad is driven to rotate by a top ring motor. The top ring is held by the swing arm. The swing arm is made to swing around a swing center on the swing arm by a swing shaft motor. A first output is generated by detecting a current value of the swing shaft motor. While polishing the semiconductor wafer by causing the semiconductor wafer to swing around the swing center on the swing arm, a change of a frictional force between the polishing pad and the semiconductor wafer is detected by increasing a change amount of the first output.

Abstract: A CMP polishing pad for polishing a semiconductor substrate is provided containing a polishing layer that comprises a polyurethane reaction product of a reaction mixture comprising a (i) curative of from 15 to 30 wt. % of an amine initiated polyol having an average of from 3 to less than 5 hydroxyl groups and a number average molecular weight of 150 to 400, and from 70 to 85 wt. % of an aromatic diamine and a (ii) polyisocyanate prepolymer having a number average molecular weight of from 600 to 5,000 and having an unreacted isocyanate content ranging from 6.5 to 11%. The CMP polishing pad has a tunable tan-delta peak temperature at from 50 to 80° C. which has a value of from 0.2 to 0.8 at the tan-delta peak temperature and is useful for polishing a variety of substrates.

Abstract: A rock sanding device includes a base, a bottom sanding plate, an adjustable connecting rod, an elastic loader, a connector, a side sanding brush, a top sanding plate, an inner rod, a prong and a drill rod. The top of the drill rod is fixedly connected with the rotating shaft of the external water drilling rig and the external water drilling rig has a water inlet joint to introduce water into the drill rod. The inner rod and drill rod are connected and fixed coaxially, and the bottom of the drill rod is symmetrically welded with four prongs. The rock specimen is placed in the center of the side sanding brush. The top sanding plate and the bottom sanding plate are provided in the top side and bottom side of the rock specimen, respectively.

Abstract: An abrasive article may include an organic bond material, abrasive particles contained within the organic bond material and a plasticizer contained within the organic bond material. The plasticizer may include at least one of an aromatic phenyl group, a heteroaromatic furyl group, or a saturated aliphatic hydrocarbon. The plasticizer may further include a polar group.

Abstract: The proposal is for a separating blade for the material-removing machining of a mineral-containing hard material, wherein the separating blade is designed to be set in rotation by means of a drivable flange arrangement, and wherein a liquid coolant can be supplied to the separating blade for a machining mode. According to the invention, in an inner volume of the separating blade that is surrounded by parts of the separating blade, an inner structure for providing a flow path, through which the coolant can flow, between an inlet point and an outlet point is formed in such a way that, in the connected state with the flange arrangement, an outflow of portions of the supplied coolant from the inner volume is prevented along the flow path during the machining mode of the separating blade, thus ensuring that no coolant reaches the machining section on the outside of the separating blade.

Abstract: A carrier body for grinding tools has an inner hub ring which surrounds a central bore for connecting the grinding tool to a rotary drive, and an jacket ring for receiving a grinding means, in particular in the form of a galvanic coating, a grinding ring, or a plurality of grinding segments. The hub ring and the jacket ring are connected to one another by several webs, which are spaced apart from one another, and the webs each have at least one recess.

Abstract: A grinding disc device for a grinding apparatus is described, having at least one grinding layer and a carrier disc fixedly connected to the grinding layer. The grinding layer has at least one connection surface (FV) connected to the carrier disc and forms an abrasive grinding surface (FS) lying opposite the connection surface (FV) and facing away from the carrier disc. The carrier disc made of a plastic material is produced by injection molding and is connected immediately and directly to the connection surface (FV) of the grinding layer, wherein the plastic material of the carrier disc is sprayed by injection molding immediately and directly onto the connection surface (FV) of the grinding layer, such that the carrier disc and the grinding layer are connected to one another in a material-locking manner.

Abstract: An electric power tool includes an electrical motor adapted to drive a rotating shaft. The electric motor is adapted to be fed with a pulsed current where the pulsed current includes a main current pulse (A) in a first direction driving the rotating shaft in a first direction and adapted to provide a current (C) in an opposite direction following the main current pulse to retract the electrical power tool. The pulsed current prior to the current (C) in the opposite direction includes a first pre-pulse current pulse (B) in the same direction as the current in the opposite direction and of a magnitude lower than the current (C). The pulsed current prior to the main pulse includes a second pre-pulse current pulse (D) which is in the same direction as the main current pulse and of a magnitude lower than the main current pulse.

Abstract: An autofeed attachment (4) for a screw-driving apparatus (2) includes a base casing (30), a feeder casing (32) slidably mounted on the base casing (30) and a wheel (72) rotatably mounted within the feeder casing (32). When rotated in a forward direction, the wheel (72) advances a screw strip (50), which has a plurality of screws (52) coupled by a connecting strip. A wheel forward-direction rotating mechanism (60, 64, 66, 68) rotates the wheel (72) in the forward direction and restricts rotation of the wheel (72) in a reverse direction opposite the forward direction. A wheel-release mechanism (70, 107, 117) releases the restriction placed on rotation of the wheel (72) in the reverse direction. The wheel forward-direction rotating mechanism and the wheel-release mechanism are disposed, at least partially, inside of the wheel (72) and/or the rotational axis of the wheel (72) intersects a release button (107) of the wheel-release mechanism.

Abstract: An electric power tool, configured to perform tightening operations where torque is delivered in a series of pulses, includes an electrical motor adapted to drive a rotating shaft of the electric power tool, and an angle sensor for sensing a parameter related to an angular displacement of the electric power tool. The electric motor is adapted to be fed with a train of controlled current pulses. The electric power tool is adapted to control a current supplied in the current pulses based at least in part on an output signal from the angle sensor to not exceed a limit threshold value for the parameter related to an angular displacement of the electric power tool.

Abstract: A 4-way indent tool includes a indenter actuator cam arm being movable between an unactuated position and an actuated position to actuate four indenters to crimp a terminal. The 4-way indent tool includes a drive assembly movable along the drive screw between a retracted position and an advanced position. The drive assembly has a drive nut on a drive screw and a coupler operably coupled between the drive nut and the indenter actuator cam arm. The coupler moves the indenter actuator cam arm. The coupler has a spring loaded coupling between the drive nut and the indenter actuator cam arm compressed as the coupler is moved between the retracted position and the advanced position.

Abstract: To provide a driver that can be reduced in the amount of gas to be injected into a pressure chamber. The driver has: an impactor configured to hit a stopper by moving from a first position toward a second position; a pressure chamber to be filled with gas for moving the impactor from the first position toward the second position; a control mechanism configured to move the impactor from the second position toward the first position; and a gas injection portion configured to inject gas into the pressure chamber, wherein the impactor is capable of taking a standby position between the second position and the first position, and the control mechanism is configured to stop the impactor at an adjustment position closer to the second position than the standby position before gas is injected into the pressure chamber.

Abstract: Various embodiments of the present disclosure provide a combustion-powered fastener-driving tool including multiple combustion chambers and/or usable with fuel canisters of varying lengths.

Abstract: Various embodiments of the present disclosure provide powered fastener driving tools and clean lubricants for powered fastener driving tools that reduce contaminant, residue, and deposit buildup or accumulation in the powered fastener driving tools, and thus reduce necessary maintenance for such powered fastener driving tools (or increases the time intervals between such necessary maintenance of powered fastener driving tools).

Abstract: The A hand-held power tool includes a tool holder 2 for holding a tool and a pneumatic striking mechanism for periodically generating impacts on the tool held in the tool holder. The striking mechanism includes a guiding tube, an exciter piston, a striker, a pneumatic chamber closed by the exciter piston and the striker in the guiding tube, and a compensating opening in the guiding tube for ventilating the pneumatic chamber. A cap covers the compensating opening on an outside of the guiding tube. The cap is open in an opening direction which is largely tangential to the guiding tube.

Abstract: A demolition device support has an elongated body that includes a base frame, a base frame support member, and an upper support member. The base frame is fixedly attached to the base frame support member, which is pivotably connected to the upper support member by a hinge. A handle extension member is mounted at the upper end of the body, and includes a mount for receiving handlebar. A collar is mounted at the lower end of the body, and is configured to receive a portion of the housing of a demolition device. The demolition device support is used to support a demolition device in an ergonomic and efficient position during use of the demolition device.

Abstract: A power tool includes a motor, a switch, a housing, a switching member and a holding member. The housing is a hollow body formed by a first housing part and a second housing part connected with the first housing part. The first housing part has a through hole. The switching member is connected to the switch and includes an operation part exposed outside through the through hole so as to be movable in a specified direction in response to a user's manual operation. The switching member is configured to turn the switch on and off by linearly moving in the specified direction. The holding member is supported by at least one of the first housing part and the second housing part within the housing and configured to hold the switching member between the holding member and the first housing part so as to be linearly movable in the specified direction.

Abstract: A power tool includes a motor having an output shaft rotatable around a first axis, a spindle rotatably supported around a second axis, a transmitting mechanism configured to reciprocally rotate the spindle within a specified angle range around the second axis, an elongate support body supporting the motor, the spindle and the transmitting mechanism, an elongate housing that houses the support body, and a first elastic member interposed between the housing and a first end part of the support body and connecting the housing and the support body so as to be movable relative to each other. The spindle is supported in the first end part such that the second axis crosses the direction of a longitudinal axis of the support body. The support body has a weight provided to increase an inertia moment of the support body around the second axis.

Abstract: Concrete which is used in structural support of freeways, bridges, and large buildings, must be tested for anomalies. The testing equipment consists of probes which are inserted into testing tubes. The tubes are placed within rebar cages before concrete is poured. The prior art involved ad hoc methods of tying the tubes to the rebar. The improvement is pre-fabricated, mass produced cylindrical devices which can be axially snapped onto the testing tube. A first cylindrical device also has a perpendicular receptacle which facilitates connection to a second cylindrical device, where the second device can be axially snapped onto a piece of longitudinal rebar on the edge of the rebar cage. The combined first and second devices safely, accurately, and quickly affix the testing tubes to the rebar.

Abstract: Various implementations described herein are directed to an apparatus having an elongated support with a recess. The apparatus includes multiple legs rotatably coupled to the elongated support so as to move between open and closed positions. The multiple legs collapse and retract from the open position to the closed position so as to nest within the recess of the elongated support. The multiple legs expand and deploy from the closed position to the open position so as to extend from the recess of the elongated support. The apparatus includes multiple arms rotatably coupled to the multiple legs so as to move between deployed and retracted positions. The multiple arms telescopically compress in a direction so as to slidably retract from the deployed position to the retracted position. The multiple arms telescopically expand in another opposite direction so as to slidably extend from the retracted position to the deployed position.

Abstract: A table includes a frame, a rotatable component, and a rotation mechanism. The frame has a pair of rotation bearings. The rotatable component has a first rotation position and a second rotation position. The rotatable component includes a pair of pivot portions supported by the pair of rotation bearings. The rotatable component further includes a first work surface configured to support preparation of a first wiring harness in the first rotation position. The rotatable component further includes a second work surface configured to support preparation of a second wiring harness in the second rotation position. The rotation mechanism is coupled with the rotatable component and is configured to rotate the rotatable component between at least the first rotation position and the second rotation position.

Abstract: A tool container system includes a first tool container and a second tool container. The first tool container has a first base, a first cover pivotably attached to the first base by a first hinge portion, a first base locking member coupled to the base, a first cover locking member coupled to the first cover, and a first latch coupled to the first base and moveable between a first unlocked position in which the first cover is movable relative to the first base between a closed position and an open position, and a first locked position in which the first latch engages the first cover locking member and the first cover is locked to the first base in the closed position. The second tool container is stackable on the first cover of the first tool container and having a second locking member.

Abstract: A tool holder holds one or more tools when not being used. The tool holder comprises a body with a plurality of tool retainers for removably receiving a tool and a plurality of posts for securing the tool within the tool holder body when the tool holder is in a closed configuration. In some embodiments, the tool retainers are holding tubes, pockets or slots. In order to couple a tool with the tool holder, a lock door is moved to an open position and the tool is inserted into a tool retainer of the tool holder. Then the locked door is moved to a closed position where it is positioned over the tool and the tool is secured within the tool holder. The tool is securely held within the tool holder body and is not removable when the tool holder is in the closed position. In some embodiments, the tool holder is configured to hold a L-shaped hexagonal or round tool. In some embodiments, the tool holder is able to hold a plurality of tools of different sizes.

Abstract: A robot arm supporting a workpiece, a support mechanism in a form of a coordinate measuring machine supporting a detector head, and a fixation portion in a form of a contact block fixing the detector head to the workpiece are used to bring the contact block fixed to a table and the workpiece into contact to each other. The detector head measures the workpiece while a relative position of the detector head and the workpiece is fixed.

Abstract: An industrial robot for material processing includes a manipulator with a base, a link, an arm and a hand. A processing device of the industrial robot is movable by the manipulator and is attached to the hand of the manipulator, and is supplied with a medium via a medium line. Provided for the medium line is a drag chain subjected to a traction directed away from a connection of the drag chain close to a processing location by a tensioning device. The tensioning device has a tensioning lever and a restoring device. The tensioning lever is attached to a partial length of the drag chain. The tensioning lever is deflectable, counter to an action of a restoring force generated by the restoring device, towards the connection of the drag chain close to the processing location such that the tensioning lever performs a pivoting movement about a lever pivot axis.

Abstract: The machine tool includes a tool post linearly movable along a direction parallel to an X axis and a direction parallel to a Z axis, a workpiece spindle which retains a workpiece in a condition rotatable about an axis parallel to the Z axis, and an in-machine robot which is installed in a machining chamber and has joints. The joints of the in-machine robot include a base joint rotatable about an axis parallel to the Z axis, and three parallel joints rotatable about an axis orthogonal to the axis of rotation of the base joint, the parallel joints being located on a distal end side of the base joint and successively arranged from the base joint. The axis of rotation of the base joint is displaced from that of the workpiece spindle.

Abstract: A plug-in adapter includes a thread designed to screw the plug-in adapter to an adjustment instrument, a plug-in device designed for detachably connecting the plug-in adapter to a counter plug-in device of an access opening on a robot for a reference position marking of the robot, and a stylus designed to couple a measuring tip of the adjustment instrument to the reference position marking. The plug-in device has a plug-in section that is designed for axially plugging of the plug-in section into the counter plug-in device of the robot.

Abstract: Exemplary embodiments relate to pressurizable housings for a soft robotic actuator. The pressurized housings may be divided into an upper chamber in fluid communication with an internal void of the actuator, and a lower chamber connected to an inlet and an outlet. The upper chamber and lower chamber may be separated by a piston. By supplying a fluid to the lower chamber via the inlet, the piston is moved into the space previously occupied by the upper chamber, which reduces the volume of the upper chamber and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.

Abstract: The present invention relates to a method and to a device for defining a movement sequence for a multi-axis manipulator of a robot system, which manipulator has a plurality of elements which form different rotational axes, and an end element for interaction with an effector, wherein the effector is intended to carry out at least one arbitrary operation in a working space, and wherein in order to carry out the at least one arbitrary operation the end element of the manipulator is to be transferred into an arbitrary target pose with respect to the working space, wherein the manipulator moves in a plurality of steps to the target pose while approaching the end element, and for each step at least one defined impedance pattern and/or admittance pattern is defined with respect to at least one axis which forms the axis of a coordinate system which is linked to the manipulator.

Abstract: A first method comprising: predicting a scene of an environment using a model of the environment and based on a first scene of the environment obtained from sensors observing scenes of the environment; comparing the predicted scene with an observed scene from the sensors; and performing an action based on differences determined between the predicted scene and the observed scene. A second method comprising applying a vibration stimuli on an object via a computer-controlled component; obtaining a plurality of images depicting the object from a same viewpoint, captured during the application of the vibration stimuli. The second method further comprising comparing the plurality of images to detect changes occurring in response to the application of the vibration stimuli, which changes are attributed to a change of a location of a boundary of the object; and determining the boundary of the object based on the comparison.

Abstract: A robot arm calibration device is provided, which includes a light emitter, a light sensing module, a cooperative motion controller and a processing module. The light emitter is disposed on at least one robot arm to emit a light beam. The light sensing module is disposed on at least another robot arm to receive the light beam and the light beam is converted into a plurality of image data. The cooperative motion controller is configured to drive the light emitter and light sensing module on at least two robot arms to a corrected position and a position to be corrected, respectively. The processing module receives the image data and the motion parameters of the at least two robot arms to calculate an error value between the corrected position and the position to be corrected, and analyzes the image data to output a corrected motion parameter for modifying motion command.

Abstract: The self-movement robot includes a robot body and a control center disposed on the body. The body includes a first distance sensor disposed in a horizontal direction used to collect two-dimensional map information and a second distance sensor disposed in a vertical direction used to collect spatial height information. While obtaining the two-dimensional map information of a working surface, the control center overlays the spatial height information to the two-dimensional map information and obtains three-dimensional map information of a working region. Through the distance sensors disposed on the self-movement robot, based on the generated two-dimensional map, the spatial height information is overlaid and the three-dimensional map information is generated. In a combined state, the robot invokes and plans a walking path in the working region based on the three-dimensional map, thereby helping to ensure smooth, safe and efficient operation of the combined robot in a complex environment.

Abstract: The invention concerns a method, arrangement and computer program product for distributing processing for a first robot in a cell among more than one processing entities. The arrangement includes a processing entity determining unit that obtains data about current limitations in the processing environment of a prospective processing entity intended to perform a processing task for the first robot, determines, based on the processing environment limitations, whether a performance requirement will be fulfilled or not if the task is performed in the prospective processing entity, and assigns the processing task for processing in the prospective processing entity or in at least one other processing entity based on the determining of whether the performance requirement is fulfilled or not.

Abstract: A portable work module includes a combination of prismatic and revolute joints (47/45) for positioning and orienting a robotic end effector for performing a task within confined space (17). For example, the portable work module may include telescoping arm (52) integrated with wrist (70) having a plurality of degrees of freedom with respect to telescoping arm (52). The portable work module includes an insert that is secured with respect to an access port of confined space (17), said access port serving as a reference location for calculating the position of the robotic end effector within confined space (17). The portable work module is configured to have a compacted configuration for insertion into confined space (17), and an extended configuration for performing tasks within confined space (17). In some examples, the portable work module is modular, such that the robotic end effector or other components may be selectively removed and replaced.

Abstract: A robot arm includes a joint and links connected via the joint, a first encoder configured to detect information related to a position of the joint, a second encoder configured to detect information related to the position of the joint independently from the first encoder, and a controller configured to control an operation of the joint. The second encoder includes a scale in which a pattern is formed and a detector configured to detect position information of the joint by reading the pattern of the scale. The controller is configured to, in a case where a reading error occurs in the detector of the second encoder, execute encoder redetection processing of driving the joint of the robot arm on a basis of the detection result of the first encoder and redetecting the position information by the second encoder.

Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

Abstract: Unmanned ground vehicles configured for compact manipulator stowing are disclosed. In some examples, an unmanned ground vehicle includes a main body and a drive system supported by the main body. The drive system includes right and left driven track assemblies mounted on right and left sides of the main body. A manipulator arm is pivotally coupled to the main body and configured to extend from a stowed position to an extended position, and the manipulator arm in the stowed position is contained entirely within a geometric volume of the right and left driven track assemblies.

Abstract: A storage system (100) is adapted to store a plurality of items and to load a delivery robot (2) with an item. The storage system (100) includes a delivery robot level (110), at least one storage level (112, 114, 116, 118) for storing the items, and a loading robot (130) adapted to grip the items and to load the items from a storage level (112, 114, 116, 118) to a delivery robot (2) located on the delivery robot level (110). The storage system (100) is adapted to move the items within a storage level (112, 114, 116, 118). The storage system may be provided with wheels and thus be mobile. It may be loaded onto a vehicle for transport from a loading area where the storage system is loaded with items for delivery, to a delivery area where the items are to be delivered by one or more delivery robots.

Abstract: A robotic finger with a stiffening member is provided that includes a front facing member for gripping and a back end member that supports the front facing member. The front facing member is conformable about a target object and includes the stiffening member that alleviates bendset by returning the front facing member to an initial state when the front facing member is no longer conformed about the target object.

Abstract: An apparatus and method for transporting a plurality of articles is disclosed. The apparatus includes a wheeled chassis, and a platform disposed on the wheeled chassis. The apparatus also includes a manipulator coupled to the wheeled chassis and operably configured to load a first article of the plurality of articles at a first position on the platform, or unload the first article of the plurality of articles from the first position on the platform. The apparatus further includes at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles.

Abstract: The present disclosure relates to a low mass system for releasably securing a robotic arm to a spacecraft and also securing various payloads to the robotic arm and to each other, permitting the robotic arm to be both moved from one location to another suitably equipped location on a spacecraft to another and to allow the free end of the robotic arm to be secured to any payload also similarly equipped such that this payload may be manipulated by the robotic arm.

Abstract: A robotic system includes an end effector with one or more fin grippers that have one or more vacuum ports. The fin grippers are made of elastic material. The fin grippers each include contact and exterior flanges joined together with a series of crossbeams. The crossbeams each define a tube opening to form a tube guide channel between the contact and exterior flanges. In one form, the vacuum ports are located at fingertip ends of the fin grippers, and the vacuum ports include vacuum cups.

Abstract: A grasping apparatus brings a hand unit to a standstill after performing a grasping motion for a target object that deforms when being grasped, performs a determination operation of making an arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover a specific spot, and determines that the hand unit has successfully grasped the target object when an observation unit can no longer observe the specific spot after starting the determination operation.

Abstract: Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.

Abstract: A power transmission unit of a drive mechanism has a link mechanism on both sides of a base portion. The link mechanism has a first link member having a base end portion provided to the base portion to be rotated about a third rotational axis, a second link member having a base end portion connecting the first link member's distal end portion to be rotated about a fourth rotational axis, and a third link member which is provided to a driven body to be rotated about a fifth rotational axis and to which the second link member's distal end portion is provided to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. A desired operation angle range of two degrees of freedom in a driven body can be ensured with a compact configuration while suppressing deflection of a structure to which the driven body is mounted.

Abstract: A shaving blade cartridge including a housing extending along a longitudinal axis (X-X), having first and second longitudinal sides, and being provided with a through hole extending transversally to the longitudinal axis through the housing. The shaving blade cartridge also includes at least one cutting blade and a clip retaining the at least one cutting blade in the housing and having a first leg, a second leg, and a clip body. The shaving blade cartridge is such that the first leg of the clip surrounds the first longitudinal side, and the second leg of the clip is received in the through hole.