Abstract: A parallel mechanism is capable of positioning and orienting an end platform with up to six or more degrees of freedom. In preferred embodiments, the mechanism includes six links having a first and second ends. The first end is connected to an end platform for supporting a tool, while the second end is connected to an actuator capable of translating the second end. A rotational drive mechanism may be provided for rotating an object mounted on the end platform at varying orientations of the end platform independently of movement of the end platform as a whole. The links may be curved in order to avoid interference between adjoining links, thereby permitting an increased range of motion and improved dexterity of the mechanism.

Abstract: A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.

Abstract: In a holding device for a surgical instrument comprising a holder for the instrument, in order to enable pivotal movement of the instrument while avoiding simultaneous translational movement, it is proposed that the holder be held by at least two guide rods on a frame, the guide rods being rotably connected to the frame and to the holder, the bearing points of the guide rods on the holder being arranged in spaced relation to one another, and the spacing of the bearing points on the frame being greater than the spacing of the bearing points on the holder.

Abstract: A spherical robot having a spherical body and a drive mechanism. The spherical body defines a cavity and a center. The drive mechanism is disposed within the cavity, coupled to the spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially positionable within said cavity to create a moment about said center of said body, and is adapted to create a moment about the center of the body. This moment causes the body to rotate.

Abstract: In order to simplify assembly of a robot hand to a robot arm, the invention is a device for driving a robot hand on a robot arm having a plurality of cardan shafts with which the cardan shafts are borne at their ends distant from the hand on a bearing plate which can be displaced relative to the robot arm.

Abstract: A rotary bearing has a pair (32,40) of bearing members, one of which has convex (34) and planar (36) surface portions, and the other of which has concave (42) and planar (44) surface portions. The convex and concave surface portions and the planar surface portions of the two bearing members bear against each other via an interstitial bearing medium of air, with the axial forces between the convex and concave surfaces counteracting the axial forces between the planar surface portions. When incorporated into a drive mechanism, one of the bearing members is connected to a drive shaft via a first torsionally stiff flexible diaphragm (130), and the other bearing member is mounted to a motor (50) (which rotates the drive shaft) via a second torsionally stiff flexible diaphragm. During operation, flexing of the diaphragms (110,130) accommodates eccentricity in the mounting of the motor (50) without transmitting unwanted loads to the bearing.

Abstract: The systems and methods described herein include hexapod systems, Stewart platform systems and other mechanical movement systems, in which a set of independently moveable trucks support legs that couple to a working surface capable of holding a machine tool or other end-effector, and preferably wherein the trucks travel across a reference surface, such as around the circumference of a circle or along some other pre-defined geometrical pattern or track. For example, as described herein, the systems include Stewart platform machines that have six supportive legs each of which connects to a truck that can travel independently along a track. By coordinating the movement of these six trucks, the working surface can be moved in three dimensional space and can be oriented about three axes, providing control of roll, pitch and yaw.