Abstract: The invention is a modular and autonomously reconfigurable manipulator system, which introduces a new dimension to the versatility of robot manipulation for diverse tasks. The hardware component is a redundant mechanism which can lock any number of its joints at any relative position to form a particular configuration with a certain number of degrees of freedom and specific values for 5 kinematic, dynamic and control parameters, optimum for a given task to be performed. The process of identifying the optimum configuration for a given task and implementing it on the manipulator is done autonomously through the system software. Therefore, no manual interaction is required to form a new configuration most suitable for a given task. The kinematic, dynamic and control parameters of the system can vary continuously enabling the manipulator to form virtually an infinite number of configurations.

Abstract: An apparatus for the automated handling of workpieces comprising an object recognition device for detecting the workpiece and a gripper arranged at a gripping arm for picking the workpieces and a control for evaluating the data of the object recognition device, for track planning and for controlling the gripping arm and the gripper and comprising a compensation unit which allows an evasion movement of the gripper, wherein the compensation unit only allows an evasion movement of the gripper on the exceeding of a predefined first load of the gripping arm and remains rigid below the first load, wherein the first load is larger than a load exerted on the gripping arm solely by the gripper and/or the picked workpiece.

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.

Abstract: A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.

Abstract: A manipulator mechanism according to the present invention comprises an arm 1 having a tip mechanism 3 attached to its tip part, and an arm paying out device 2 to which the base end part of the arm 1 is coupled for winding and paying out the arm 1. The arm 1 comprises a tape aggregate 4 formed by bundling a plurality of elastic tapes 41, and a plurality of bundling members 5 attached to the tape aggregate 4 with spaces therebetween in a longitudinal direction of the tape aggregate 4. The bundling member 5 is provided with a guiding groove 51, through which the plurality of tapes 41 pass, to keep the relative position of the plurality of tapes 41 constant.

Abstract: A multiple joint robot includes a wrist part provided with a reduction gear unit capable of receiving an end effector and of transmitting power to the end effector. The reduction gear unit includes a fixed part fixed to the wrist part by means of a fixing element, a rotational part rotatable relative to the fixed part, and a sealing element provided in a circumference of the rotational part. There is a cover at the fixed part of the reduction gear unit, and the fixing element and the sealing element are covered by the cover. The cover is provided to flatten a convex portion or a concave portion formed by the fixing element.

Abstract: A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.

Abstract: A two degree-of-freedom parallel device for orienting or pointing an end effector with vibration suppression is described. The two end effector degrees-of-freedom are decoupled by connecting fast actuators to the effector by passive joints. The stiffness of the linkages and the high speed of the revolute and prismatic actuators employed permit the application of large feedback useful for disturbance rejection.

Abstract: A robot comprising a base forming an inner chamber and having an opening, a first link supported by the base and arranged for translational movement generally along a first axis relative to the base, a second link supported by the first link and arranged for rotary motion relative to the first link about a second axis generally parallel to the first axis, the second link extending from the inner chamber through the opening into an outer region, a third link supported by the second link and arranged for rotary motion relative to the second link about a third axis generally parallel to the first axis, a first actuator arranged to control the translational movement of the first link relative to the base, a second actuator arranged to control the rotary motion of the second link relative to the first link, a third actuator supported by the second link and arranged to control the rotary motion of the third link relative to the second link, and a seal between the inner chamber and the outer region arranged to isola

Abstract: A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.

Abstract: A cover attachment structure for attaching a cover to a predetermined component of a robot includes a first component, a second component and a third component. The first component is disposed to the predetermined component of the robot. The second component is disposed to an inner part of the cover. The first component and the second component are engaged with each other through the third component. The first component and the second component are drawn to each other by the third component in a manner that the predetermined component and the cover are brought close to each other.

Abstract: A robotic arm includes a driving unit, a first arm assembly connected to the driving unit, and a second arm assembly. The first arm includes two balls. The second arm assembly includes two arms and two intermediate members. Each intermediate member is secured to an end of one of the two arms. Each intermediate member defines a receiving recess. Each receiving recess has a spherical inner circumferential surface. Each ball is partially received in one of the two receiving recesses and abuts against the spherical inner circumferential surface. The two arms and the two intermediate members are capable of rotating about the balls. The driving unit drives the balls to move. The balls force the arms to move in a direction as a moving orientation of the balls, at the same time the arms rotating about the balls.

Abstract: A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.

Abstract: A drive section for a substrate transport arm including a frame, at least one stator mounted within the frame, the stator including a first motor section and at least one stator bearing section and a coaxial spindle magnetically supported substantially without contact by the at least one stator bearing section, where each drive shaft of the coaxial spindle includes a rotor, the rotor including a second motor section and at least one rotor bearing section configured to interface with the at least one stator bearing section, wherein the first motor section is configured to interface with the second motor section to effect rotation of the spindle about a predetermined axis and the at least one stator bearing section is configured to effect at least leveling of a substrate transport arm end effector connected to the coaxial spindle through an interaction with the at least one rotor bearing section.

Abstract: A robot according to an aspect of the invention includes an enclosure having an opening formed therein, a lid section that is provided on the enclosure in a detachable manner and blocks at least part of the opening, an attachment and detachment section which is provided on the lid section on the side facing the opening of the enclosure and to and from which a replaceable part is attached and detached, and a holding mechanism that allows the enclosure to hold the lid section when the lid section is detached from the enclosure.

Abstract: A SCARA robot according to an aspect of the invention includes a first arm rotatable with respect to a base, a second arm rotatable with respect to the first arm, a first rotation regulating member regulating a rotation of the first arm, and a second rotation regulating member regulating a rotation of the second arm. The first arm includes a beam provided inside a casing, at least one of the first rotation regulating member and the second rotation regulating member includes a contact part, a fixing part, and a connecting part.

Abstract: A robot system according to embodiments includes a robot including an arm, and a work table. On the work table, an object used for work performed by the robot by using the arm is placed. The arm of the robot includes a first arm portion, a second arm portion, and a third arm portion. The first arm portion supports an end effector to be rotatable about a first rotation axis at a distal end thereof. The second arm portion supports a base end of the first arm portion to be swingable about a second rotation axis substantially perpendicular to the first rotation axis. The third arm portion supports a base end of the second arm portion to be swingable about a third rotation axis substantially perpendicular to the second rotation axis.

Abstract: A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.

Abstract: A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled.

Abstract: A manipulator robot for industrial production lines including a support structure and two robot arms mounted to the support structure at declining and diverging angles from one another. In one example, each robot arm includes six robot body portions connected in series and rotatable relative to one another. The improved robot design provides significant advantages in the flexibility, movement and modality of the robot for exemplary use in industrial production lines.

Abstract: A balancing mechanism for a robot configured for lifting heavy weights comprises a hollow balancing body comprising an opening; an elastic assembly received in the balancing body and a pulling rod assembly received in the balancing body and hinged to a robot arm of the robot. One end of the pulling rod assembly resists the elastic assembly, and another opposite end of the pulling rod assembly extends out from the balancing body through the opening, the pulling rod assembly is movably assembled with the balancing body via the elastic assembly to make the elastic assembly capable of producing a balancing moment against the gravity moment of the robot arm.

Abstract: A linear actuator suitable for mobilizing a load comprises: a leg linked to the load by one of its ends with a ball joint with three degrees of freedom in rotation; a plate that is mobile in translation along an axis belonging to a plane of a support of the actuator, said mobile plate being mechanically linked to the leg by its other end. The linear actuator also comprises at least one first elastic cable, fixed by one of its ends to the mobile plate, and fixed by its other end to the support, being engaged in a first pulley fixed to the support. The actuator can notably be used to mobilize a simulation platform mounted on a hexapod.

Abstract: A parallel link robot includes a first arm including a first joint portion; a second arm including a second joint portion swingably engaging with the first joint portion, the second arm being connected to the first arm to make up a link mechanism; and a biasing mechanism unit which biases the second joint portion toward the first joint portion. The biasing mechanism unit includes a connection member attached to the second arm and the connection member includes a locking portion configured to lock the connection member to the second arm.

Abstract: A device (1) for moving and positioning a member in space has a mobile member (2), first and second members (3, 4) attached to a frame (32), and first and second carriages (5, 6) slidable along the members (3, 4). A first pair of arms (7, 8) are hinged to the first carriage and to the mobile member, forming a first four-bar linkage. A second pair of arms (10, 11) are hinged to the second carriage (6) and to the mobile member, forming a second four-bar linkage. A third pair of arms (14, 15) are hinged to a third member (13) and to the mobile member (2), forming a third four-bar linkage. A fourth member (17) which is hinged to the frame (3, 4, 19, 32) of the device (1) rotatably bears the third member (13), with a first actuator (18) provided for moving the fourth member (17).

Abstract: The vacuum seal unit of a workpiece transfer apparatus includes a plurality of seal rings and a cooling flow passage formed so as to circulate through inside a rotating shaft and a workpiece transfer mechanism. The seal rings adjacent to each other with a spacing therebetween, out of the plurality of seal rings, and the rotating shaft define a first space and a second space independent from each other and respectively surrounding the periphery of the rotating shaft. An end portion of the cooling flow passage communicates with the first space, and the other end of the cooling flow passage communicates with the second space. Even when the rotating shaft is rotating about the axial center, a coolant supplied to the second space can flow through the cooling flow passage and be supplied to the first space, thereby enabling cooling with high efficiency without restriction on the angle of rotation.

Abstract: The gravity compensation mechanism includes a first non-circular gear configured to rotate about a rotation axis of an arm part of the robot together with the arm part, a second non-circular gear driven by the first non-circular gear, and an extension/contraction body configured to extend and contract to produce force as the second non-circular gear rotates, one end portion of the extension/contraction body being connected to the second non-circular gear.

Abstract: A parallel micro-robot with five degrees of freedom that is capable of manufacturing in compact size as well as capable of controlling more precisely compared with conventional parallel robot is disclosed. The parallel micro-robot with five degrees of freedom is capable of controlling an angle of the operating plate very precisely around two shafts rotating connection means which couples operating plate and up/down height adjusting actuator using a first and second angle adjusting actuator, and therefore, high accuracy is secured.

Abstract: A combination component handling and connecting device connectable to a multi-axis robot for use in moving and connecting components and subassemblies includes a housing and an actuator fixedly connected to the housing. The actuator includes an actuating link movable from a first position to a second position. Connected to the actuating link is an end effector for concurrent movement with the actuating link. The component handling and connecting device includes a clamp having a first jaw and a second jaw. The second jaw is connected to the actuating link for selectively moving the second jaw toward the first jaw operative to engage a component.

Abstract: Disclosed herein are a robot joint driving method, computer-readable medium, and device assembly which conducts motions similar to those of humans, and a robot having the same. These motions are achieved by arranging joint driving devices suited to characteristics of respective joints. The robot joint driving device assembly includes a tendon-type joint driving device using a wire, and a harmonic drive-type joint driving device using a gear reduction method. The tendon-type joint driving device is used to drive a rotary joint requiring high back-drivability, and the harmonic drive-type joint driving device is used to drive a rotary joint requiring high rigidity and high precision.

Abstract: A rope shovel has a boom and a hoist rope. The boom has a first end and a second end. The hoist rope extends over the second end of the boom. A digging assembly for the rope shovel includes a shaft, an elongated member supported for movement relative to the boom, an attachment, and a drive link. The shaft is positioned between the first end and the second end of the boom and transverse to the boom, and the shaft includes at least one pinion gear. The elongated member includes a first end and a second end. The attachment is coupled to the first end of the elongated member and is configured to be coupled to the hoist rope. The drive link includes a rack engaging the pinion gear of the transverse shaft such that rotation of the pinion gear moves the drive link and actuates the attachment.

Abstract: Provided is a robot hand capable of reducing the load moment applied on the wrist of the robot hand in lifting an article. The robot hand includes a base; a first hand arm mounted on the base, including a holding part configured to hold the article, and configured such that the holding part is movable between a first distal position away from the base in a first direction, and a first proximal position close to the base more than the first distal position; and a second hand arm mounted on the base, including a counter balancer weight, and configured such that the counter balancer weight is movable between a second distal position away from the base in a second direction opposite to the first direction, and a second proximal position close to the base more than the second distal position.

Abstract: A robot includes a robot arm, a robot hand, and a covering. The robot hand is disposed on the robot arm. The covering covers at least a part of the robot hand.

Abstract: A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.

Abstract: A robot includes a first arm and a second arm. The first arm and the second arm have different mechanisms from each other.

Abstract: A piezoelectric actuator includes a frequency controller that controls the frequency and power of the driving signal, wherein when the phase difference falls within a predetermined range, the control unit stores the value of the frequency of the driving signal as a first frequency memory value, sets a voltage to a upper limit voltage value, and performs control of adjusting the frequency of the driving signal so that the phase difference is maintained to be within a predetermined range, and when the frequency of the driving signal is changed from the first frequency memory value by an amount exceeding a first value determined in advance, the control unit stores the value of the frequency of the driving signal as a second frequency memory value and sets the voltage to a lower limit voltage value lower than the upper limit voltage value.

Abstract: A robot includes a base seat, a first arm fixed to the base seat, a second arm rotatably connected to the first arm, an output shaft rotatably connected to a distal end of the second arm, a first driving member, and a first transmission mechanism. The first transmission mechanism includes a first transmission belt and a reducer. The first driving member is located at one end of the first arm adjacent to the base seat, the reducer is located at the other end of the first arm away from the base seat, and connected to the second arm, the first driving member is capable of driving the reducer via the first transmission belt.

Abstract: A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots.

Abstract: The present invention is directed to a tool holder for use with a surgical robot. The tool holder includes, a rotor fixed to the tool shaft, and a stator fixed to the robot. The stator includes a magnet, and a bearing surface. The rotor includes a magnetic material that attaches securely to the tool shaft, such that the tool is in the center of the rotor. The rotor rotates against the bearing surface on the stator, allowing the tool to rotate about its axis. To exchange tools, the user exerts force on the tool until the holding force of the magnet is exceeded and the tool detaches from the stator. A new tool is introduced into the vicinity of the stator such that the magnet attracts the magnetic material on the rotor. The present invention eliminates the need to slide the tool through a shaft of the tool holder.

Abstract: An articulated mechanical arm includes a passive device designed to compensate for the effects of gravity on at least a first pivot connection which articulates a first member of the arm on a second member of the arm, and constitutes a first degree of freedom of the arm. The passive device includes a drive mechanism and at least one magnetic device. The drive mechanism is designed to transmit to the magnetic device any rotation of the second member relative to the first pivot connection. The magnetic device is designed to produce torque further to the rotation of the second member. The drive mechanism and the magnetic device are also designed such that the torque is retransmitted by the drive mechanism to the first pivot connection, such that the retransmitted torque cancels the moment of force caused by gravity exerted on the articulated mechanical arm, relative to the first pivot connection.

Abstract: A delta robot includes a stationary housing, in which at least three drives are installed, at least three upper arms, at least three pairs of elongate and mutually parallel lower arms, and a movable parallel plate. Each of the upper arms is connected to one of the drives. Each lower arm comprises a corrosion-resistant metal tube having a first end connected to a free end of one of the upper arms through a ball joint and a second end connected to the movable parallel plate through a ball joint. Each ball joint includes a ball head and a ball socket, one of which is attached to the first or second end of one of the tubes.

Abstract: What is presented is a mechanical arm assembly with a novel roller thrust bearing. The mechanical arm assembly comprises a first arm having a first end and a second end. A first roller thrust bearing is mounted to the first end and to a ceiling. A second roller thrust bearing mounted to the second end. Each roller thrust bearing comprises a first bearing body and a second bearing body able to rotate relative to each other. Each roller thrust bearing has a solenoid powered brake comprising two brake shoes each with a high friction brake pad mounted to a hinge body affixed to the first bearing body, a brake drum mounted to the second bearing body, a tension spring pushing the brake shoes against the brake drum, and a mechanism for disengaging the brake shoes from the brake drum. The mechanism comprises a slider body with space for two pins, two ball bearings, and a plunger with sloped surfaces on one end and a mounting provision on the other. A solenoid is attached to the mounting provision.

Abstract: A working device and a working method wherein an articulated robot controls vertical movement of a balancer arm by commanding vertical movement for a balancer, and moves the balancer arm horizontally by applying an external force to the balancer arm in the horizontal direction by means of a robot arm.

Abstract: An industrial robot includes a support body, a moving platform, a pivot shaft, a plurality of driving devices, a plurality of transfer branch joints, and a base. The support body includes a main body, and an installing portion opposite to the main body; the pivot shaft is rotatably connected with the main body and the moving platform; the driving devices are positioned at a bottom of the main body; each transfer branch joint is movably connected with the moving platform and one corresponding driving device; the installing base includes a bottom base, and two supporting arms extending from opposite sides of the bottom base; the bottom base and the two supporting arms cooperatively forming a receiving space; the bottom base and the two supporting arms are detachable in relation to the installing portion and the main body; the main body is received in the receiving space.

Abstract: A robot according to the present disclosure includes a support structure and at least three main arms mounted to be movable relative to the support structure, wherein the outer ends facing away from the support structure are movable to different spatial positions relative to the support structure and relative to each other. The robot further comprises connecting elements having the same lengths by means of which the outer end of each main arm can be connected at a defined distance from the outer end of the two adjacent main arms. The present disclosure also provides a method of calibrating a robot.

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

Abstract: Provided is a parallel link robot which has increased rigidity and which can be reduced in size. The parallel link robot includes: a base (1); a movable portion (2); a plurality of link portions (5) connecting the base (1) and the movable portion (2); and a plurality of actuators (6) for driving the plurality of link portions (5), wherein each of the plurality of actuators (6) is a linear actuator (6) supported on the base (1) to be rotatable about a predetermined axis (A1) and has a main body portion (8) and a shaft portion (7) for linearly moving relative to the main body portion (8), and each of the plurality of link portions (5) has a driving link (3) supported on the base (1) to be rotatable about a predetermined axis (A2) and connected to the linear actuator (6) and a driven link (4) connecting the driving link (3) and the movable portion (2).

Abstract: A non-contact holding device (1) attached to a parallel mechanism robot (100) has a square plate-like base member (10), a Bernoulli chuck (20) attached to the center on a rear surface of the base member (10), and eight pin-like guide members (30) that are disposed facing each other with the Bernoulli chuck (20) therebetween and that are provided on the rear surface of the base member (10) in a protruding manner. The guide members (30) facing each other are configured to be able to move away from each other. These guide members (30) move away from each other along inner surfaces of guide holes (72) of a workpiece mounting tray (70, 71) as the Bernoulli chuck (20) approaches a workpiece mounting surface (75) of the workpiece mounting tray (70, 71).

Abstract: A robot arm includes a first shaft housing, a first driving mechanism, a second driving mechanism, a cable pass-through assembly and a cable assembly. The first shaft housing is hollow shaped, and includes a housing, a first mounting base and a second mounting base mounted on the housing. The first driving mechanism is mounted on the first mounting base. The second driving mechanism is mounted on the second mounting base. The cable pass-through assembly includes a first cable tube and a second cable tube. The cable assembly electrically connects with the first driving mechanism and the second driving mechanism. An axis of the first cable tube overlaps with an axis of the first mounting base. An axis of the second cable tube overlaps with an axis of the second mounting base. The cable assembly passes through the first cable tube and the second cable tube.

Abstract: Compact robot with a reduced operational envelope includes a support frame, two robot arm assemblies, and two actuating mechanisms. The support frame includes a top plate and a bottom plate. Each robot arm assembly includes a first arm, a second arm intersecting with the first, and a third arm intersecting with the second. The first arm drives the second arm to move along the first arm, the second arm drives the third arm to move along the second arm. The actuating mechanisms are coupled to the two third arms. Each third arm drives an actuating mechanisms to move along the third arm. A moving direction of each actuating mechanism as driven by the third arm is inclined relative to the driving directions of the first arm and the second arm.

Abstract: Three-axes robot without gears or other meshing structures which can operate in restricted environments includes a first arm, a second arm coupled to the first arm, a third arm coupled to the second arm, and an actuating mechanism coupled to the third arm. The first arm is configured to drive the second arm to move along the first arm. The second arm is configured to drive the third arm to move along the second arm. The third arm is configured to drive the actuating mechanism along the third arm, a moving direction of the actuating mechanism when driven by the third arm is inclined relative to a plane parallel to moving directions of the directions of the first arm and the second arm.