Abstract: Medical or surgical devices, instruments, systems, and methods for use in optically sensing loads acting on a patient's anatomy may include a surgical device or instrument configured for insertion to a surgical site and an interrogator coupled to the surgical device or instrument via an optical fiber having a sensing area at a location of the surgical device or instrument at which a load is to be sensed. The measured load may be used as being indicative of a load acting on a patient's anatomy. Such measured or determined load may be used to make decisions before, during, or after a patient procedure.

Abstract: An operation system, a surgical system, a control device, a distortion generating body, a surgical instrument and the like for detecting a force acting on an end effector are provided. The surgical system includes an arm including one or more links, an end effector arranged at a tip end of the arm, a first distortion detecting unit that detects distortion generated in the end effector, a second distortion detecting unit that detects distortion generated in the link, and a processing unit that calculates a force acting on the end effector in a living body on the basis of detection results of the first distortion detecting unit and the second distortion detecting unit.

Abstract: A system includes an equipment front end module chamber, alignment pedestals housed within the equipment front end module chamber, and a load/unload robot at least partially housed within the equipment front end module chamber. The alignment pedestals include a first alignment pedestal having a first support surface and a second alignment pedestal having a second support surface, and the first support surface has a vertical offset and an overlap region having at least a partial overlap relative to the second support surface. The load/unload robot includes an arm, and vertically arranged blades attached to the arm. The vertically arranged blades include an upper blade configured to transfer a first substrate to the first alignment pedestal and a lower blade configured to transfer a second substrate to the second alignment pedestal.

Abstract: The present disclosure provides a brace system including an upper portion and a lower portion. The brace system may also include a first pulley rotatably coupling the upper portion to a first intermediate link positioned between the upper portion and the lower portion. The brace system may also include a second pulley rotatably coupling the first intermediate link to a second intermediate link positioned between the upper portion and the lower portion. The brace system may also include a third pulley rotatably coupling the second intermediate link to the lower portion. Further, the brace system may include at least one tension-bearing element substantially encircling each of the first pulley, the second pulley, and the third pulley.

Abstract: An augmented reality (AR) device includes a light source; a light source-moving delta robot on which the light source is mounted, the light source-moving delta robot being configured to change a traveling path of light emitted from the light source by adjusting at least one of a position or a slope of the light source in a three-dimensional (3D) space based on a movement of the light source-moving delta robot; a display device configured to generate a first image by modulating the light emitted from the light source; and a combiner configured to combine the first image generated by the display device with a second image, which is different from the first image and is received from an external source, and output a combined image.

Abstract: An electrosurgical instrument for use in a robotic surgical system includes an electrosurgical end effector, a housing configured to be operably coupled to an instrument drive unit, a shaft extending distally from the housing, and a wrist assembly coupled to a distal end portion of the shaft. The wrist assembly includes a first pivot member and a second pivot member having a proximal end portion movably coupled to the first pivot member, and a distal end portion configured to be coupled to the end effector. The first pivot member has a pair of first and second distally-extending arms each defining a first groove configured to receive and guide a cable.

Abstract: In order to extend a life span of a flexible cable passing through a movable portion, provided is a hand mechanism which has a plurality of fingers and grips an object with the fingers, including: a flexible cable; a joint which flexes or extends with the grip of the object, has a path for the flexible cable, and has a first surface and a second surface that is a surface bending from the first surface at a bending portion in the path; and a sheet which is provided between the first surface and the flexible cable to have flexibility and is formed such that a gap is provided between the second surface and the sheet.

Abstract: A robotic manipulator, comprising: a platform (302); a first pair of pneumatic artificial muscle (PAM) devices (112,114) coupled to the platform (302) at a first end of the first pair of PAM devices; a second pair of PAM devices (116, 118) coupled to the platform (302) at a first end of the second pair of PAM devices; a first pulley (342) coupling the first pair of PAM devices via a first belt (132) at a second end of the first pair of PAM devices; a second pulley (344) coupling the second pair of PAM devices via a second belt (134) at a second end of the second pair of PAM devices; a U-joint (160) positioned between the first and second pulleys, wherein the first pulley (342), the second pulley (344), and the U-joint (160) are rotatable along a pitch axis (P1), a yaw axis (Y1), and a roll axis (R1); and an actuated object (170) coupled to the U-joint (160), wherein motion of one of the first belt (132) of the first pair of PAM devices, the second belt (134) of the second pair of PAM devices, and both the fir

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.

Abstract: A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment for a surgical tool; a basal segment for attaching the terminal portion to the remainder of the surgical robotic component; and an intermediate compound joint between the distal segment and the basal segment, the intermediate compound joint permitting relative rotation of the distal segment and the basal segment about first, second and third axes; the terminal portion being arranged such that, in at least one configuration of the intermediate compound joint: (i) the axial direction of the basal segment is parallel to the axial direction of the distal segment, and (ii) the first, second and third axes are transverse to the axial directions of the basal and distal segments.

Abstract: An augmented reality (AR) device includes a light source; a light source-moving delta robot on which the light source is mounted, the light source-moving delta robot being configured to change a traveling path of light emitted from the light source by adjusting at least one of a position or a slope of the light source in a three-dimensional (3D) space based on a movement of the light source-moving delta robot; a display device configured to generate a first image by modulating the light emitted from the light source; and a combiner configured to combine the first image generated by the display device with a second image, which is different from the first image and is received from an external source, and output a combined image.

Abstract: An operation command generator includes: an area division unit configured to divide a line on a flat work surface of a target workpiece W into a straight area and a corner area, using a sharp boundary surface; a straight area operation command generation unit configured to generate a command for operating only the linear motion mechanism while keeping the posture of the parallel link mechanism fixed, in the straight area; and a corner area operation command generation unit configured to generate a command so that an acting point of the end effector passes on the boundary surface at a substantially constant speed by the linear motion mechanism and the parallel link mechanism performing coordinated operations in the corner area.

Abstract: A robot system including a robot body and a control device. The robot body includes wrist elements at a distal end of an arm; a wired wire body connected to an end effector fixed to the third wrist element. The control-device includes an angle calculation unit that calculates, in a Cartesian coordinate system of which the origin is the wire-body outlet and which has one coordinate axis extending in a direction along the first axis, angles of straight lines connecting the wire-body outlet and specific points of the wire body, with the straight lines projected onto a plane perpendicular to the coordinate axis, about the coordinate axis, with reference to a position where a load acting on the wire body is the least; and a determination unit that determines whether the absolute values of the angles calculated by the angle calculation unit have exceeded predetermined angle thresholds.

Abstract: A linear delta system includes a frame, rails secured to the frame, linear actuators, each linear actuator coupled to a respective rail and configured to translate along a longitudinal length of the respective rail, pairs of parallel rods each operably coupled to a respective linear actuator, a platform coupled to the pairs of parallel rods, structure configured to movable couple an object to the platform; and at least one degree of freedom imparting assembly including a profiled rod extending in a direction parallel to the rails and a drive unit configured to rotate the profiled rod, wherein the at least one degree of freedom imparting assembly is configured to impart a degree of freedom to the object.

Abstract: A device includes a frame having a plurality of rails, each rail including a slider. A first rail support member is connected to a first end of the plurality of rails, and a second rail support member is connected to a second end of the plurality of rails. The second end is opposite the first end. A plurality of arms is connected to the sliders. Each arm includes a ball joint at one end connected to one of the sliders. Each arm includes another end, opposite the one end, connected to a platform via a hinge joint. The platform is configured to roll and pitch via changing positions of the sliders along the plurality of rails.

Abstract: A gimbal assembly comprises a body, comprising at least one pivot boss projecting radially outwards along a first pivot axis (V) from an outer surface of the body; a gimbal, comprising an outer case surrounding the body and at least one hole projecting radially outwards along a second pivot axis (H) to receive a pivot pin to pivotally couple the gimbal to a fixed structure. The second pivot axis (H) is perpendicular to the first pivot axis (V) and the outer case is formed at least partially from carbon fibre-reinforced polymer matrix composite material. The outer case comprises at least one cavity on its inner surface in which the at least one pivot boss is located to pivotally couple the gimbal to the body.

Abstract: A robot is provided which has: a first arm portion to which an end effector is attached, a second arm portion configured to support, at a tip portion thereof, the first arm portion swingably about a first axis, a third arm portion configured to support a base end portion of the second arm portion rotatably about a second axis orthogonal to the first axis, a tube arranged from the base end portion side toward the tip portion side of the second arm portion and connected to the end effector; and a first recess portion and a second recess portion, which are formed along an arrangement direction of the tube between the base end portion and the tip portion on one side and the other side in a direction orthogonal to both of the first and second axes, respectively.

Abstract: A present robot operation apparatus operates a robot including a plurality of joints, and includes an operation unit that transmits a signal corresponding to an operation by an operator to a control unit of the robot, and the operation unit is configured to be detachably attached to an attachment member fixed to an arm member of the robot arranged closer to a base than the joint closest to a tip among the plurality of joints.

Abstract: There is provided a parallel link robot that includes a movable section, a plurality of first links, a plurality of connection sections, a plurality of second links, a plurality of first shaft sections, a plurality of third links, a plurality of second shaft sections, and a fixation unit including a plurality of driving sources. The plurality of first links are connected to the plurality of driving sources. The plurality of connection sections are connected to the plurality of first links. The plurality of second links are connected to the plurality of first links via the plurality of connection sections. The plurality of first shaft sections are connected to the plurality of second links. The plurality of third links are connected to the plurality of second links via the plurality of first shaft sections, and to the movable section through the plurality of second shaft sections.

Abstract: A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.

Abstract: Provided is a robot pivot shaft structure that includes a revolving drum rotatably supported at an upper portion of a base and that has a hollow portion, a drive motor rotating the revolving drum, and a speed reduction mechanism reducing the rotational speed of the drive motor. The speed reduction mechanism has a small gear fixed to a shaft of the drive motor, a large gear meshed with the small gear, an input hypoid gear fixed to the large gear, and an output hypoid gear meshed with the input hypoid gear. The output hypoid gear is fixed to the revolving drum and is disposed in the base. The input hypoid gear and the large gear are rotatably supported at the base. The drive motor is fixed to the base and disposed below the revolving drum, the position being horizontally shifted from vertically below the hollow portion.

Abstract: A computer-implemented system is provided and includes a processor and a memory accessible by the processor, with the system being configured to measure light performance properties of a gemstone and generate an objective grade for the gemstone.

Abstract: A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom (SDOF) hinge portions, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joint portions, with the top plate configured to receive a workpiece, three linear actuators pivotally coupled to the three bottom SDOF hinge portions of the bottom plate and coupled to the three top TDOF joint portions of the top plate, with each linear actuator of the three linear actuators configured to change length over a linear actuation span, and a rotator component and/or a positioning table affixed to the top plate and the bottom plate. The tripod motion system is additionally coupled to a rotator component and a positioning table to provide six degrees of freedom of motion.

Abstract: A parallel robot includes a plurality of actuators, a wrist portion, and a plurality of arms that respectively connect the wrist portion to the plurality of actuators. The wrist portion includes a base portion that includes a plurality of connection portions respectively connected to the plurality of arms and a rotation member that rotates about a rotation axis located outside an area surrounded by the plurality of connection portions. The rotation member is provided with a through-hole that is formed along the rotation axis.

Abstract: A jig for calibrating a Delta robot fixes the longitudinal axes of drive arms to be parallel. With this configuration, the jig always fixes the drive arms at the same reference angle no matter what the drive arm length is.

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: The invention relates to a robot arm of an industrial robot. The robot arm includes a flange provided to secure an end effector and several sequentially-positioned members connected by means of links, of which one of the members is mounted immediately before the flange, and the flange is mounted to rotate with respect to an axis relative to this member. To adjust the flange with respect to the member mounted immediately before the flange, the robot arm comprises an adjustment device that includes a base carrier is detachably attachable to the flange particularly by means of screws, with an adjustment means disposed on the base carrier that interacts with a counter-adjustment means disposed on the member mounted immediately before the flange.

Abstract: A motorized joint having two degrees of freedom in rotation connecting two elements is provided. The joint includes two pivot connections such that a first one of the pivot connections establishes a first pivot axis, and a second one of the pivot connections establishes a second pivot axis. The first pivot axis is not parallel to the second pivot axis. A first motor is disposed in fixed relation to a first one of the two elements and has a drive shaft aligned with a first drive axis so as to cause by means of a first speed reducer with parallel axes the two elements to rotate about the first pivot axis.

Abstract: A shaft member (12) has a hollow pipe (13) extending coaxially with its axis of center of rotation and a tool mounting surface (12c) positioned at the front end of the shaft member. An umbilical member guide mechanism (10) includes an umbilical member fastening part (20) attached to a tool mounting surface side of the shaft member, a plurality of umbilical members (30) are guided from the arm side of the robot through the hollow pipe of the shaft member and fastened at the end of the hollow pipe at the tool mounting surface side by an umbilical member fastening part in parallel with the axis of center of rotation, and attaching parts (48a to 48d) which attach the umbilical member fastening part to the front end of the shaft member at one phase of at least two predetermined phases around the axis of center of rotation.

Abstract: A wrist includes a wrist housing including a wrist driving structural portion to which rotation is transmitted from a wrist driving pulley, a cylindrical portion arranged coaxially with a rotational axis of the wrist driving structural portion and penetrated by a first hand driving shaft to which rotation is transmitted from a hand driving pulley, a cable introducing portion forming an annular gap with the cylindrical portion, and a hand-driving-shaft penetrating portion penetrated by a second hand driving shaft rotating a hand interface by rotation of the first hand driving shaft being transmitted thereto, and a cable, which comes out of a second arm from a wrist supporting portion, is drawn into the wrist housing from the annular gap and is routed to a hand interface supporting portion in a slackened state.

Abstract: A robotic arm includes: an arm having one or more joints; an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; and a control unit configured to turn on and off the electrostatic adhesion of the arm securing unit.

Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. A first gimbal support point is supported by a first lever having a fulcrum with one degree of rotational freedom. Second and third gimbal support points may be supported by second and third levers having fulcrums with two degrees of rotational freedom. These fulcrums may include a first axle coupled to the lever and a second axle that supports the first axle and provides the fulcrum for the supported lever. A spring may draw the second and third levers toward one another. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

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: A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.

Abstract: In order to reduce the cost of robotic arm, the invention provides a robotic arm, which includes an arm member having a first pivot connection portion, a locating member affixed to the arm member, a sliding member movably mounted at the locating member, a stop member affixed to the sliding member, a wrist member having a second pivot connection portion pivoted to the sliding member and a third pivot connection portion movable relative to the second pivot connection portion, and a driving device including a body member pivoted to the first pivot connection portion and an extension member pivoted to the third pivot connection portion of the wrist member and movable relative to the body member. Using the locating member, the sliding member, the stop member and the wrist member to match with the driving device, the robotic arm achieves the effect of moving and swinging and cost reduction.

Abstract: A force detector includes a first substrate, a second substrate, a circuit board provided between the first substrate and the second substrate, and an element mounted on the circuit board and outputting a signal in response to an external force, wherein a hole is formed in the circuit board at a location where the element is placed, and a first convex part inserted into the hole and protruding toward the element is provided on the first substrate. Further, the element is placed within a periphery of the first convex part as seen from a direction perpendicular to the first substrate.

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: A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.

Abstract: A robot, such as a painting robot for painting components such as motor vehicle body components, is disclosed having a plurality of robot elements that are pivotable relative to each other. At least one flexible supply line may run from a proximal robot element to a distal robot element. The supply line may be axially displaceable in the proximal robot element relative to the longitudinal axis of the supply line, so that the supply line can perform an axial compensating motion during a pivot motion of the robot.

Abstract: An articulated robot wrist includes a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis. The first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes result substantially aligned with one another.

Abstract: A robot wrist structure includes a first wrist arm rotatable about a first axis, a second wrist arm provided in a tip end portion of the first wrist arm and configured to swing about a second axis substantially intersecting the first axis, a wrist flange provided in a tip end portion of the second wrist arm and configured to rotate about a third axis in a skew position with respect to the second axis, an intermediate member fixed to the wrist flange, and a cable bundle connected to an end effector fixed to the intermediate member. The cable bundle extends through the second wrist arm, the wrist flange and the intermediate member and drawn out from the intermediate member to reach the end effector.

Abstract: A method for operating a system including at least two robots for handling parts and a robot control unit arranged for control of said at least two robots. Each of the robots is arranged with a parts handler device including a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to the end element. Each of the robots is also arranged with a gripper connected to the rigid arm by a second swivel arranged for free, passive rotation of the gripper in relation to the rigid arm. The method includes generating instructions for the at least two robots to pick and/or move and/or place a part and sending the instructions to each robot simultaneously.

Abstract: A wire-operated selective compliance mobile platform (100), in particular for endoscopic surgery devices, obtains a perfect and precise mobility and thus it allows to handle, in the most effective way, the supported instruments, and comprises a mobile surface (1), a connecting base (2) apt to be connected to a flexible tubular duct (4) for endoscopic uses, a plurality of supporting elements (3), apt to permit the motion of said mobile surface (1) relative to said base (2), characterized in that said supporting elements (3) have at least a selective compliance turning pair (31) and a number of joints (32, 34) so as to provide a predetermined number of degrees of freedom to said platform (100), neither determining any over-constraining, nor forcing the system to be deformed in unselected directions, each supporting element (3) being operated by moving means (51, 52) so as to move said mobile surface (1).

Abstract: A parallel mechanism with three-dimensional translation and one-dimensional rotation include a fixing rack, a mobile platform and four chains of the same structure which are symmetrically set between the fixing rack and the mobile platform. Each chain has a near rack rod and two parallel far rack rods. The mobile platform includes a main platform and an assistant platform connected by a revolute joint and perpendicular to each other. Each end of the main platform and the assistant platform is connected with a corresponding lower connecting shaft separately.

Abstract: A robot arm assembly includes a first robot arm and a second robot arm; the second robot arm is rotatably connected to the first robot arm. The first robot arm includes a first sleeve, a first input shaft, and a second input shaft. The first input shaft and the second input shaft are seated in the first sleeve. The second robot arm includes a second sleeve and an output shaft; the output shaft is received in the second sleeve. The first input shaft is connected to the second sleeve via a pair of bevel gears, and drives the second sleeve to swing relative to the first sleeve. The second input shaft is connected to the output shaft via a plurality of bevel gears meshing with each other, and drives the output shaft to rotate relative to the second sleeve.

Abstract: A parallel robot includes a plurality of actuators, a wrist portion, and a plurality of arms that respectively connect the wrist portion to the plurality of actuators. The wrist portion includes a base portion that includes a plurality of connection portions respectively connected to the plurality of arms and a rotation member that rotates about a rotation axis located outside an area surrounded by the plurality of connection portions. The rotation member is provided with a through-hole that is formed along the rotation axis.

Abstract: Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

Abstract: A wrist mechanism for an instrument used in minimally invasive medical procedures employs only four drive cables for control of the pitch, yaw, and grip of an effector. To reduce part count, no pulleys are used. Instead, solid surfaces of clevises in the wrist mechanism cradle the drive cables and are curved in multiple directions to maintain a fixed moment arm for cable torques and eliminate the need for large cable wrap angles. Further, the stiffness of each of the four drive cables can be controlled for improved clinical performance. In particular, the stiffness of the two drive cables that cause grips to close can be greater than the stiffness of the remaining two drive cables that cause the grips to open. The arrangement can minimize cable slack, improving fidelity of motion.

Abstract: An articular structure for a robot according includes: a first intermediate link (26a) supported on a first member (22) to be rotatable about a first axis; a first arm (25a) having one end connected to a second member (23) with a ball joint interposed therebetween and the other end connected to the first intermediate link (26a) with a ball joint interposed therebetween; a first actuator (28a) for rotating the first intermediate link (26a) about the first axis; a second intermediate link (26b) supported on the first member (22) to be rotatable about a second axis; a second arm (25b) having one end connected to the second member (23) with a ball joint interposed therebetween and the other end connected to the second intermediate link (26b) with a ball joint interposed therebetween; and a second actuator (28b) for rotating the second intermediate link (26b) about the second axis.

Abstract: A compensation device that is positioned between a robot and a robotic tool. The device 10 generally includes a first section that connects to the robot and a second section that connects to the tool. The second section is movable relative to the first section for the tool to comply to accommodate variations in its positioning. The second section 12 may comply rotationally about x, y, and z orthogonal axes relative to the first section.