Abstract: The present invention relates to a motorized hand tool having a motor with a motor front casing adapted to resist rotation of the motor with respect to a housing of the tool, without use of extra fasteners or machining operations. The motor front casing includes first and second flanges and first and second tabs that protrude radially outwardly and that are disposed proximal to respective ends of the flanges. When the motor is installed, the tabs abut a ratchet head housing and are sandwiched between the ratchet head housing and a rib if a tool housing to resist motor rotation and ensure all forces are distributed across a whole face of the rib to minimize deformation of the rib and/or tool housing.

Abstract: An oil pulse tool cools an oil unit and a motor. A soft impact driver includes a brushless motor, an oil unit located frontward from the brushless motor and driven by the brushless motor, a spindle located frontward from the oil unit and driven by the oil unit, a cylindrical portion and a rear cover accommodating the brushless motor and having outlets, a grip located below the cylindrical portion and the rear cover, and a unit case accommodating the oil unit and located frontward from the cylindrical portion and having an inlet. The inlet is located in the unit case alone, and the outlets are located in the cylindrical portion and the rear cover alone.

Abstract: An impact tool includes a motor; a spindle that is rotated by rotational force of the motor; a tool holding shaft at least a part of which is disposed forward of the spindle; a hammer that is supported by the spindle and impacts the tool holding shaft in a rotation direction without being displaced in the axial direction; a hammer case that houses the hammer; and a hammer bearing that is held by the hammer case and supports the hammer in a rotatable manner.

Abstract: A torque wrench includes an elongated body, a head, and a cantilever beam. The body extends longitudinally from a proximal end to a distal end and includes a channel extending therethrough. The distal end includes an opening extending laterally therethrough along a central axis. The head is rotatably received within the opening at the distal end so that the head is rotatable about the axis. The head includes a gear cam defining teeth about a periphery thereof and an engaging portion sized, shaped, and configured to engage a corresponding engaging feature of a fixation device. The beam is housed within the channel such that a distal tip is received in a space between adjacent teeth. The beam bends when a torsional force applied to the head exceeds a predetermined limit so that the cam rotates about the axis and the distal tip slips from the space between the teeth into an adjacent space.

Abstract: A removal tool configured for removing an insertable engine component from an engine assembly. In the removal tool may include a coupling device, a drive member, and a lifting member attached to a main shaft. The coupling device is mounted onto a retainer securing an engine component, and the lifting member is positioned against the underside of a flange of the engine component. A rotational force applied against the drive member is transferred to the coupling device and causes the retainer to be unscrewed. As the retainer is unscrewed, this causes a lifting force from the retainer pushing against the coupling device, which causes the lifting member to be pushed upward, and further causing the engine component to be pushed upward and away from the engine assembly. This facilitates removal of the engine component concurrently with the removal of the retainer (e.g., in a single operation).

Abstract: A clamping handle assembly that is usable with woodworking tools that enables a user to suitably maintain and secure various types of workpiece and/or stock to a woodworking tool during a woodworking project. The clamping handle assembly comprises of a handle. The clamping handle assembly also comprises of a threaded shaft that is operably engaged with the handle, said threaded shaft is adapted to engage with a woodworking tool. The clamping handle assembly also comprises of a clamp block that is operably engaged with the threaded shaft, said clamp block is adapted to apply a clamping force to a workpiece. In addition, various types of clamp blocks may be included in a clamping handle assembly to suitably maintain and secure various types of workpiece and/or stock to a woodworking tool during a woodworking project.

Abstract: A ring for clasping a cylindrical object includes a first element, a second element and a switch mechanism. The second element is circumferentially butted with the first element, and one end of the first element is adjacent to one end of the second element. The end of the second element has a protrusion protruding outwardly. The switch mechanism includes an abutting member adjacent to the end of the first element and configured to be rotated to abut against or move away from the protrusion of the end of the second element. When the abutting member is rotated and abuts against the protrusion of the end of the second element, the second element is fixed; when the abutting member is rotated and moves away from the protrusion of the end of the second element, the second element is released.

Abstract: A pneumatic tool includes a trigger configured to perform a first operation of operating a drive part, a contact member configured to perform a second operation of operating the drive part, a timer configured to measure the time during which the drive part can be operated by the second operation of the contact member and to switch the operation mode of the drive part after the time has elapsed, and a timer switch configured to control the operation of the timer. The first operation of the trigger is transmitted to the timer switch using a transmitting member.

Abstract: The disclosure discloses a stuck staple processing mechanism of an electric stapler and the electric stapler. The stuck staple processing mechanism of the electric stapler includes a driving mechanism, a transmission mechanism, a pop-up staple channel assembly, a controller and a pop-up mechanism. The transmission mechanism is connected with a pop-up switch of the pop-up staple channel assembly through the pop-up mechanism. When the controller controls the driving mechanism to rotate along a staple placing direction, the pop-up mechanism does not make the staple channel assembly act. When the controller controls the driving mechanism to rotate in an opposite direction of staple placing, the transmission mechanism makes the pop-up switch act through the pop-up mechanism to pop up a staple channel of the staple channel assembly, so as to facilitate a removal of a stuck staple.

Abstract: The invention herein pertaining to a battering ram device and system of assembly. The device pertaining to a battering ram with improved ergonomic features that maximizes force exerted with minimum twerk to the user's body. The system of assembly introduced by this invention relates to detachably connectable features that provides modular options and capabilities of this tool.

Abstract: A tool includes a tool head with a utilization surface. The tool also includes a counter device responding to an impact applied to the utilization surface. The counter device has a memory, a microcontroller controlling operation of the counter device, an indicator, and an energizer connected to the microcontroller, which in response to the impact applied to the utilization surface, produces an electric current energizing the counter device to make a modification in the memory and provide information about the cumulative count of impacts in the memory via the indicator to a user.

Abstract: A power tool, such as a hammer drill (100), has first and second battery mount parts (160A, 160B) that are aligned in a longitudinal direction of the power tool. First and second batteries (170A, 170B) are mountable thereon in series along a straight line that extends in the longitudinal direction. The first battery (170A) is mounted on the first battery mount part (160A) by sliding along the straight line towards the second battery mount part (160B). The second battery (170B) is mounted on the second battery mount part (170B) by sliding along the straight line towards the first battery mount part (170A).

Abstract: A tool assembly includes a handle having a first end and a second end, a pivotal shaft mounted in the first end of the handle, at least one implement having a proximal end and a distal end, and a position-limiting mechanism mounted in the handle. The implement may pivot between an unfolded position and a folded position. When the implement is in its unfolded position, the position-limiting mechanism can lock the implement in position. The position-limiting mechanism may be lifted so as to allow the replacement of the implement.

Abstract: A torque sensor is less likely to lower detection accuracy. A screwing machine includes a motor including a stator and a rotor rotatable about a rotation axis, a gear case, a planetary gear, an internal gear connected to the planetary gear, a torque sensor including a front plate coupled to the internal gear, a rear plate supported by the gear case, a hollow portion located between the front plate and the rear plate, and a strain gauge fixed to the hollow portion, a bearing located between the stator and the rear plate and supporting at least a part of the rotor, and a bearing box surrounding the bearing and supporting the bearing.

Abstract: A rotary tool may include a motor, a first clutch, a first drive path, a second drive path, a second clutch, a rotating mass, and an output anvil. The rotary tool may drive, by the motor and the first clutch, a first drive path that causes the output anvil to rotate at a speed. The rotary tool may selectively enable, by the motor and the second clutch, a second drive path that causes the rotating mass to engage to the output anvil and increase a torque delivered to the output anvil.

Abstract: An electric tool featuring quick assembly and assembly locking includes a base body and a tool body detachably connected to the base body, where a drive shaft connected to a motor is provided in a housing of the base body; a spline tooth movable along the drive shaft is sleeved on an end of the drive shaft; a rotation limit structure is provided between the drive shaft and the spline tooth; an end of the tool body is provided with a connecting sleeve; and a spline hole matched with the spline tooth is provided in the connecting sleeve. The electric tool achieves quick assembly and locking between the base body and the tool body, facilitating quick replacement of different tool heads according to work requirements and ensuring assembly reliability and operational safety.

Abstract: A handle device for releasable fastening on a hand-held power tool (10), wherein the handle device has a clamping ring (41) with a clamping mount (42) for receiving a fastening portion (20) of the hand-held power tool (10) and also has a handle (60), which projects from the clamping ring (41), wherein a clamping-actuation grip (78), which can be activated manually by the operator (BE), can be used to adjust the clamping mount (42) between a clamping position (K), and a release position (L), and wherein the handle device has an axial-form-fitting body (80), which is mounted in a movable manner in relation to the clamping mount (42) and has an axial-form-fitting contour (81) for engagement in a mating axial-form-fitting contour (25) of the fastening portion of the hand-held power tool.

Abstract: The invention is directed to a compacting grip apparatus for a hand-held touch screen electronic device. The apparatus includes an extension portion comprising an extendable cylindrical flexible corrugated tube, the extension portion having a first end and an opposing second end. In some embodiments, the extension expands to an open position and contracts to a closed position. The apparatus includes a hard base that includes a flat outside face and an inside portion fixedly connected to the first end of the extension portion. The apparatus includes a hard top that includes an inside portion fixedly connected to the second end of the extension portion and a flat or plate-like outside face facing away from the outside face of the base.

Abstract: A sample stand includes a base portion that is made of a first material and has an arcuate outer edge in a plane having a first direction and a second direction orthogonal to the first direction, a first portion that is provided on an upper portion of the base portion in the second direction and in which a second material is embedded, a second portion that is provided on the upper portion of the base portion in the second direction and in which a third material is embedded, and a sample holding portion on which a sample is to be held. The sample holding portion is provided on the upper portion of the base portion in the second direction, between the first portion and the second portion in a third direction orthogonal to each of the first direction and the second direction.

Abstract: A coupling mechanism for a utility module is provided. The coupling mechanism includes an locking panels that interface with opposing tabs of a modular storage system. The locking panels actuate between a locked position and an unlocked position.

Abstract: An autonomous traverse tire changing bot includes a carriage having a carriage frame with a carriage drive section effecting autonomous traverse of the carriage, along a traverse path, relative to a traverse surface or a floor on which the bot rests, and a bot frame including at least one actuator mounted to the carriage and a bot drive section with a motor defining an actuator degree of freedom, wherein the at least one actuator has an end effector having a tire engagement tool disposed so that articulation of the at least one actuator with the actuator degree of freedom effects engagement contact of the tire engagement tool and a tire mounted on a vehicle, and a controller effects traverse of the bot along the traverse path effecting dynamic positioning of the at least one actuator relative to a variable position of the vehicle with the tire mounted thereon.

Abstract: A method of controlling a robot arm for performing coffee drip includes: an arrangement checking operation of checking an arrangement of a dripper, a coffee powder container, a cup, and a kettle; a coffee powder providing operation of, when the arrangement of the cup is sensed, gripping the coffee powder container and providing a coffee powder contained in the coffee powder container to the dripper, by using the robot arm; a dripping operation of, when the coffee powder is provided to the dripper, gripping the kettle and performing a drip operation using any one of a plurality of predetermined methods, by using the robot arm; and a discharging operation of, when the dripping operation is completed, gripping the cup and transferring the cup to a discharge position.

Abstract: An autonomous construction robotic system is disclosed which includes a processing unit, a robotic arm, the robotic arm is adapted to be coupled to a central attachment arm and thereby position the central attachment arm according to a plurality of degrees of freedom, a panel handling and fastening system, including a panel handling assembly coupled to the central attachment arm and adapted to pick and place a construction panel onto a framed structure within a construction zone, and a vision system adapted to provide visual information to the processing unit associated with the framed structure, wherein the processing unit processes the visual information to automatically determine placement position of the construction panel on the framed structure.

Abstract: This specification describes an adaptive robotic nursing assistant for physical tasks and patient observation and feedback. In some examples, the adaptive robotic nursing assistant includes an omni-directional mobile platform; a footrest on the omni-directional mobile platform; a handlebar located above the footrest such that a user standing on the footrest can grasp the handlebar; a display above the handlebar and at least one user input device; a robot manipulator comprising a robotic arm and an end effector on the robotic arm; and a control system coupled to the omni-directional mobile platform, the control system comprising at least one processor and memory storing executable instructions for the at least one processor to control the omni-directional mobile platform.

Abstract: A robot system (100) of the present disclosure includes a robot (101) installed in a workarea (201), an interface (102), a display (105), and a control device (111). When operating the robot (101) to perform a kind of work defined beforehand to a workpiece (300) based on manipulational command information on the robot (101) inputted from the interface (102), the control device (111) displays on the display (105) a spatial relationship between the workpiece (300) and the robot (101) in a state where the workpiece and the robot are seen from a direction different from a direction in which an operator looks at the robot (101) from a manipulation area (202) that is a space different from the workarea (201), based on three-dimensional model information on the workpiece (300), three-dimensional model information on the robot (101), and the manipulational command information.

Abstract: The invention relates to a robot arm (2), having a plurality of joints (5) and a plurality of links (4), which each connect two adjacent joints (5) to one another, wherein at least one of said links (4) has a human-machine interface (6), comprising at least one display means (7, 7.2), which is designed to display at least one system state of the robot arm (2) and/or of a control device (3) connected in terms of control technology to the robot arm (2), and comprising at least one input means (8), which is designed to supply at least one manual input via the human-machine interface (6) to the robot arm (2) and/or to a control device (3) connected in terms of control technology to the robot arm (2), wherein the at least one input means (8) comprises a tactile sensor surface (8.1) arranged on an outer casing wall (M) of the link (4) and the at least one display means (7, 7.2) comprises a display surface (7.1) superimposed on the tactile sensor surface (8.1).

Abstract: An object of the present invention is to simplify a joint, such as reducing the weight of the joint, in a robot arm mechanism capable of detecting contact of a person or an object. A robot arm mechanism (1) according to an embodiment of the present disclosure includes rotational joints (J1, J2). The rotational joint (J1) and the rotational joint (J2) are connected to each other by a link (30). The link (30) includes a plurality of link portions (31, 33, 35, 37). The link portions (31, 33) are coupled to each other via a torque sensor (61), the link portions (33, 35) are coupled to each other via a torque sensor (63), and the link portions (35, 37) are coupled to each other via a torque sensor (65).

Abstract: Provided is a robot control device that can suppress the stoppage of operations due to the detection of a contact error. The robot control device controls a robot that implements welding in association with contact with a to-be-welded object, said device comprising: an action stoppage unit that stops the action of the robot if detected that the robot has been subjected to an external force equal to or greater than a threshold; an instructing unit that instructs a welding power supply device to start welding; and a detection sensitivity adjustment unit that lowers the sensitivity at which as external force is detected at the action stoppage unit during a period of time from the point in time at which the instructing unit instructs the welding power supply device to start welding until a prescribed wait time has elapsed.

Abstract: The invention relates to a robot cell (1) provided for use on machine tools and/or assembly machines. The robot cell (1) includes a handling device, e.g. an industrial robot (2). By means of the robot cell (1), a workpiece (4) to be processed on the machine tool or the assembly machine can be removed from an incoming transport container, pre-processed, orientated, inserted into the machine tool or assembly machine, removed from the machine tool or the assembly machine, measured and placed or stacked in an outgoing transport container. The robot cell (1) can be used on different machine tools or assembly machines.

Abstract: In a finger mechanism and a robot hand having the finger mechanism, the finger mechanism uses a link based mechanism, and performs three degrees of freedom including two degrees of freedom of MCP joint and one degree of freedom of PIP join, via a driving part disposed at a side. The driving part is not disposed at each knuckle of the finger mechanism and additional sensors may be easily equipped, and thus modularized robot hand may be performed using the finger mechanism.

Abstract: A multi-fingered robot includes a plurality of finger mechanisms that each of which has a first wire for driving, a plurality of driving parts for bending that independently drives the first wire of each finger mechanism so as to bend each of the finger mechanisms, a connecting member that connects between at least one set of the first wires among a plurality of the first wires, and a driving controller that controls driving of the first wire of each of the finger mechanisms by the driving parts for bending. The driving controller causes the driving part for bending that drives the first wire of the second finger mechanism to assist the bending operation of the first finger mechanism via the extended connecting member if a difference between a first posture of the first finger mechanism and a second posture of the second finger mechanism is larger than a predetermined difference.

Abstract: Toolable modules, each having a set of functions and capabilities which are configurable to function cooperatively, to create a set of Robotic arms. Each finger of the module enables a specific task to be accomplished, providing multiple degrees of movements, enabling the Robotic arms to be deployed in highly precise applications and capable of responding to complex tasks. In coordination with an imaging system and a control system the functionality of the Robotic arms are programmable, scalable and configurable in addition to being able to communicate with the external interfaces in a predetermined protocol, thereby providing “Plug and Play” functionality.

Abstract: A robotic tool changer includes master and tool assemblies that are coupled by urging a plurality of rolling members contained in openings in the master assembly into contact with a bearing race contained in the tool assembly. Accumulations of debris in and around the contact points between the rolling members and bearing race are permitted to escape via a series of debris passages formed between the rolling members and the openings when the master and tool assemblies are coupled.

Abstract: Provided is an attaching/detaching structure that operates reliably with simple operation. The attaching/detaching structure attaches/detaches a second connecting member (4) to/from a first connecting member (3). An operation chamber (8) formed in a base member (5) of the second connecting member (4) is connected to the outside of the base member (5) via an insertion hole (7) opened to a seating surface (6) of the first connecting member (3). Two clamp arms (10) and (11) are provided in the operation chamber (8) so as to be symmetrical around an axial center of the operation chamber (8). An engaging portion (16, 17) is formed at one end (10b, 11b) in longitudinal direction of each of the clamp arms (10, 11). An engaging member (32) protruding from the second connecting member (4) can be inserted into the insertion hole (7). A lock portion (34) in which the engaging portions (16, 17) can be engaged is formed in the engaging member (32).

Abstract: Provided is a robot, including: a controller; a plurality of actuators mechanically coupled to an end-effector mount; a first set of end-effectors magnetically coupled to the end-effector mount; and a sensor adjacent an interface between at least some of the first set of end effectors and the end-effector mount, wherein: the end effectors are magnetically coupled to the end-effector mount with magnetic couplings that decouple in response to less than 200 Newtons of force being applied to distal portions of respective end effectors in a direction opposing movement of respective end effectors driven by at least some of the actuators, and the sensor is configured to output a signal indicative of a given end effector decoupling and indicate which end effector in the first decoupled.

Abstract: An intelligent garbage sorting robot includes a robot body and a walking base. The robot body is installed on the walking base, and a tool end of the robot body is installed with an executing mechanism. The executing mechanism includes a housing. An electromagnet is slidably disposed in the housing, the electromagnet is connected to a first driving assembly, the first driving assembly is configured to drive the electromagnet to slide, and an end of the housing is fixedly connected to multiple steel needles. Two mechanical claws symmetrically disposed on the walking base, and the two mechanical claws are spaced apart on the walking base. The two mechanical claws are respectively connected to second driving assemblies, and the second driving assemblies are configured to drive the two mechanical claws to move relatively.

Abstract: Provided are a die pickup module and a die bonding apparatus including the same. The die pickup module includes a wafer stage for supporting a wafer including dies attached on a dicing tape, a die ejector arranged under the dicing tape and for separating a die to be picked up from the dicing tape, a non-contact picker for picking up the die in a non-contact manner so as not to contact a front surface of the die, a vertical driving unit for moving the non-contact picker in a vertical direction to pick up the die and an inverting driving unit for inverting the non-contact picker to invert a die picked up by the non-contact picker.

Abstract: A vacuum cup is disclosed for use in a programmable motion device. The vacuum cup includes an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that generally surrounds the open inlet. The vacuum cup lip includes an inner surface that defines the open outlet through which a vacuum may be provided, and includes noise mitigation features on an outer surface of the vacuum cup lip.

Abstract: A linear member gripping device includes: a first gripping member that abuts a linear member; a second gripping member that abuts the linear member and has a protrusion; a first drive part and a second drive part that change relative positions of the first and second gripping members; and a limitation part that limits movement of the linear member sandwiched between the first and second gripping members at a predetermined limitation position.

Abstract: An apparatus including a robot drive; and a robot arm connected to the robot drive, where the robot arm includes a first link connected to the robot drive, a second link rotatably connected to the first link at a first rotatable connection, and an end effector rotatably connected to the second link at a second rotatable connection. The end effector includes a heat choke located between a substrate support area of the end effector and the second rotatable connection. At least one of the first rotatable connector or the second rotatable connection includes a rotary thermal coupling having interleaved members which are rotatable relative to each other.

Abstract: A robot including a wrist base, a wrist flange member including a flange surface for mounting an end effector, and an actuator driven to rotate the wrist flange member relative to the wrist base around an axis line orthogonal to the flange surface, the actuator includes a first member fixed to the wrist base and a second member fixed to the wrist flange member, a gap which is exposed in a direction opposite to the flange surface along the axis line is formed between a cylindrically shaped outer peripheral surface of the wrist base or the first member and a cylindrically shaped inner peripheral surface, which is arranged radially outside the outer peripheral surface, of the wrist flange member or the second member, and the robot includes an oil seal for sealing the gap.

Abstract: A linear motion mechanism includes: a plurality of cylinders assembled telescopically in multiple stages; a block row with a head block connected to the head cylinder; guide rails and configured to accommodate the block row in a circular arc shape; a torque generating unit configured to generate torque for feeding the block row from the guide rails and pulling back the block row from the guide rails; and an arm for transmitting the torque generated by the torque generating unit to the block row. A rotary shaft of the torque generating unit is arranged at a circular arc center of the guide rails, one end of the arm is connected to a rotary shaft of the torque generating unit, and another end thereof is connected to a rearmost block among a plurality of blocks.

Abstract: A bionic sweat gland and a bionic skin include a shell and a porous medium. A heat dissipation pipe is arranged inside the shell, that is filled with porous media. The pores formed by the porous medium in the heat dissipation pipe gradually decrease along the evaporation flow direction and the gap of the porous medium is filled with evaporation liquid. The shell is a permeable structure, which is used to absorb evaporation liquid from the environment. The top of the shell is provided with a number of through holes connected with the heat dissipation pipe for discharging evaporation liquid to the outside. The bionic sweat gland and the bionic skin can adapt to the effect of tensile and shear forces generated on the surface of flexible materials such as electronic skin during use.

Abstract: A malfunction detection device compares detected data on a condition at a predetermined part of an apparatus with a threshold so as to determine a malfunction of the apparatus. The malfunction detection device varies the threshold in accordance with a type of a lubricant used for movable parts of the apparatus.

Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.

Abstract: A system including an autonomous ground vehicle (“AGV”) designed as a common platform to which is affixed one or more articulated arms, which, when combined with attached implements and software for performing movement of the AGV and the arm(s), carries out tasks common to small farms and maintaining small parcels of land. The software enables a farm operator to set up, control, and monitor operations of the robotic system.

Abstract: An information processing apparatus (3) according to an embodiment includes: a context analysis unit (310) that analyzes at least one or more contexts of a user (2), an environment, or a robot (1) based on acquired information; a work plan generation unit (330) that determines, regarding work executed by the user and the robot in cooperation, for each of steps of the work, whether to have the user or the robot execute the step, based on the context, and generates a work plan of the work; and a step determination unit (340) that determines the steps to be executed by the user and the steps to be executed by the robot, based on the work plan.

Abstract: An assist device includes a first harness, a second harness, a belt body, an actuator and a controller. The controller is configured to perform operation control of the actuator. The controller is configured to, upon operation of the actuator being started in a state in which the first harness and the second harness is fitted to the user, perform winding of the belt body with a first winding force, and is configured to, upon the winding of the belt body being completed, change the winding force of the actuator to a second winding force that is smaller than the first winding force.

Abstract: An electronic device is provided. The electronic device includes a first device comprising a spherical housing which rotates and in which a spherical inner space is formed, and a second device which is disposed on the outer surface of the spherical housing and has a ring shape, wherein the first device comprises a first driving device which is disposed within the spherical housing and is capable of transmitting driving force to the spherical housing, a structure disposed within the spherical housing and formed such that the second device is disposed on the surface of the spherical housing, a second driving device which is disposed within the spherical housing and drives the structure, and at least one first sensor which is disposed in the structure and faces the inner surface of the spherical housing.

Abstract: A robot in which two members constituting a joint shaft and supported in a relatively movable manner are each provided with a V-shaped groove having two sloped inner surfaces intersecting each other at a linear groove bottom extending orthogonally to a movement direction, or a V-shaped protrusion having two sloped outer surfaces intersecting each other at a linear ridge extending orthogonally to the movement direction. When the two members of the joint shaft are disposed in a predetermined operational position, the groove bottoms, the ridges, or the groove bottom and the ridge are disposed in alignment with each other.