Abstract: A substrate transporting robot apparatus is disclosed which is adapted to transport a substrate to and from a chamber of an electronic device processing system. The apparatus may include an upper arm rotatable in an X-Y plane, a forearm rotatable relative to the upper arm in the X-Y plane, and a wrist member rotatable relative to the forearm in the X-Y plane, the wrist member including an end effector adapted to carry a substrate. The wrist member may be subjected to independent rotation such that various degrees of yaw may be imparted to the wrist member. In some aspects, the independent rotation is provided without a motive power device (e.g., motor) being provided on the arms or wrist member, i.e., the wrist member may be remotely driven. Systems and methods using the robot apparatus are also provided as are numerous other aspects.

Abstract: A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.

Abstract: A system for externally actuating an animatronic figure. The system including a first robotic mechanism configured as a remote center mechanism for rotating a first rod about a first remote center point. The first rod is attached to a first driven part of the figure with the first remote center point spaced apart from the figure. The system includes a second robotic mechanism rotating a second rod about a second remote center point. The second rod is attached to the second driven part of the animatronic figure, and the second remote center point is spaced apart from the animatronic figure. The system includes a third robotic mechanism rotating a third rod about a remote center point, with the third rod attached to a third driven part of the figure, and the three robotic mechanisms are concurrently operable via a computer-based controller to provide the figure with twenty-one degrees of freedom.

Abstract: A substrate transport apparatus including a frame, a drive section connected to the frame and including at least one independently controllable motor, at least two substrate transport arms connected to the frame and comprising arm links arranged for supporting and transporting substrates, and a mechanical motion switch coupled to the at least one independently controllable motor and the at least two substrate transport arms for effecting the extension and retraction of one of the at least two substrate transport arms while the other one of the at least two substrate transport arms remains in a substantially retracted configuration.

Abstract: A substrate transport apparatus including a first shaftless rotary motor including a first stator and a first rotor, the first stator being linearly distributed and the first rotor being coupled to a first arm, a second shaftless rotary motor including a second stator and second rotor, the second stator being linearly distributed and the second rotor being coupled to a second arm, the second arm being connected to the first arm and a first substrate support being coupled to at least one of the first and second arms, wherein the first stator and second stator are configured so that the first and second arms and the first substrate support are inside the stators and a motor output at a connection between the first and second shaftless rotary motors and a respective one of the first and second arms is a resultant force disposed peripheral to the first and second arms.

Abstract: A robot includes a hand configured to process a workpiece, and an articulated-robot main body where the hand is mounted. The articulated-robot main body is displaced from a conveyance path of the workpiece in plan view.

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.

Abstract: There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.

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 substrate handling robot having a robot body and a robot arm with an end effector is configured to exhibit angular (?), radial (R) and Z motion. A pair of coaxial shafts link the robot arm to respective motors dedicated to angular (?) and radial (R) motions. The motors are stationarily mounted with respect to the robot body. The shafts are rotatably supported by a floating platform which is motivated in the Z direction by a third motor also stationarily mounted with respect to the robot body. The third motor is coupled to the platform by a Z motion linkage. The first and second motors are coupled to the coaxial shafts by angular and radial motion linkages each of which includes primary and secondary timing belts whose relative motions are synchronized with the Z motion linkage to achieve controllable independent angular (?), radial (R) and Z motions in a simple, light-weight package.

Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

Abstract: In a robot arm is provided with a closed link mechanism between a base and a hand, and a temperature of a first link member from among a plurality of link members constituting the closed link mechanism is to reach a first temperature T1, and a temperature of a second link member is to reach a second temperature T2, the first link member and the second link member formed from differing materials. An elongation ratio of the first link member, in which a length of the first link member at the first temperature T1 is divided by length of the first link member at a pre-operation temperature T0 is approximately equal to an elongation ratio of the second link member, in which a length of the second link member at the second temperature T2 is divided by a length of the second link member at the pre-operation temperature T0.

Abstract: A control device (1) for a robot arm (8) which, if a person approach detection unit (3) detects approach of a person, performs control according to an impact between the robot arm (8) and the person. The control performed according to the impact is performed through an impact countermeasure motion control unit (4) and by setting individual mechanical impedances for respective joint portions of the robot arm (8) based on a movement of the person detected by a human movement detection unit (2).

Abstract: A horizontal articulated robot includes a first arm and a second arm respectively supported at their base end portions by a body and the tip end portion of the second arm to be rotatable about a first joint and a second joint; and a fork including its base end portion supported by the tip end portion of the second arm to be rotatable about a third joint. The first arm includes a first enlarged portion, formed in its tip end portion, with an upper surface positioned higher than an upper surface of the base end portion of the first arm. The second arm includes a second enlarged portion, formed in its tip end portion, with a lower surface positioned lower than a lower surface of the base end portion of the second arm. The first and the second enlarged portion are at least partially overlapped with each other horizontally.

Abstract: A grasping device includes a first member, a fixed member fixed to the first member, a first finger member fixed to one end of the first member, a slide mechanism fixed to the first member, a first slider member slidably attached to the slide mechanism, a second member fixed to the first slider member at one end thereof, a guide mechanism fixed to the second member, a second slider member slidably attached to the guide mechanism, a second finger member fixed to the second slider member, and a displacement increasing mechanism that transmits a relative displacement between the fixed member and the first slider member to the second slider member.

Abstract: A robot manipulator includes a plurality of joint shafts including at least first and second joint shafts. If the robot manipulator extends vertically with respect to a rotation center of the first joint shaft that rotates in a horizontal plane, a rotation center of the second joint shaft that rotates in another horizontal plane is offset from the rotation center of the first joint shaft.

Abstract: A substrate transport apparatus including a drive section having at least one drive shaft and at least two scara arms operably coupled to the at least one drive shaft, the at least one drive shaft being a common drive shaft for the at least two scara arms effecting extension and retraction of the at least two scara arms, wherein the at least two scara arms are coupled to each other so that, with the at least one drive shaft coupled to the at least two scara arms, rotation of the drive shaft effects extension and retraction of one of the at least two scara arms substantially independent of motion of another of the at least two scara arms.

Abstract: A parallel robot is composed of two kinematic chains connecting a base to a platform having two degrees of freedom so that the platform is movable with respect to the base in a plane (x, z) of a space (x, y, z) in which the directions x, y and z are orthogonal to one another. The kinematic chains each having a bend connecting a proximal sub-chain, itself connected to the base, and a distal sub-chain, itself connected to the platform. The proximal sub-chain drives the bend in translation in the plane (x, z). The distal sub-chain of at least one of the two kinematic chains includes two rods separated from each other in the direction (y). The first and second ends of each rod are connected to the bend and the platform, respectively, by respective systems of connections composed of two pivots with axes orthogonal to each other.

Abstract: The present invention is characterized by arranging a flow path 200 for supplying driving gas to a tool mounting portion 170 from a robot base 110 to the tool mounting portion 170 through the interiors of a rotation frame 120, a tube 220, a shoulder 140, a swing arm 150 and a tool mounting rotation arm 160.

Abstract: A handling device which has a first bearing device forming a pivot point for two inner pivot arms, to each of which one outer pivot arm is pivotally attached. The two outer pivot arms support a platform. The platform is pivotally connected to the outer pivot arms by an outer three-ring bearing.

Abstract: A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.

Abstract: A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.

Abstract: A device for constructing an assembly of building components includes an articulating arm unit and a gripper/nailer mounted on an end of the articulating arm unit. The gripper/nailer includes a gripping unit for grasping building components and positioning them in a predetermined arrangement and a nailing unit for inserting a fastener to secure the building components together.

Abstract: A transfer robot includes a hand section, a horizontal arm mechanism, and a lift mechanism. An object is to be placed on the hand section. The horizontal arm mechanism is connected to the hand section and includes at least two rotary joints. The horizontal arm mechanism is configured to extend and contract so as to move the hand section along one direction. The lift mechanism is configured to move the horizontal arm mechanism up and down and includes a plurality of link mechanisms disposed on a base member. The horizontal arm mechanism is disposed between parts of the lift mechanism when the horizontal arm mechanism is moved to a lowest position.

Abstract: The The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.

Abstract: A robotic vehicle configured for autonomous or semi-autonomous operation in a rail environment is provided. The vehicle can process image data to move about the rail environment and perform one or more actions in the rail environment. The actions can include one or more actions related to decoupling and/or attaching rail vehicles, and can be implemented by performing three-dimensional image processing. The vehicle can be configured to move with any movement of a rail vehicle on which one or more actions are being performed. In an alternative embodiment, the various components configured to perform the action are implemented at a stationary location with respect to a rail line.

Abstract: A substrate transport apparatus having a frame, a drive section and an articulated arm. The drive section has at least one motor module that is selectable for placement in the drive section from a number of different interchangeable motor modules. Each having a different predetermined characteristic. The articulated arm has articulated joints. The arm is connected to the drive section for articulation. The arm has a selectable configuration selectable from a number of different arm configurations each having a predetermined configuration characteristic. The selection of the arm configuration is effected by selection of the at least one motor module for placement in the drive section.

Abstract: Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.

Abstract: A ground vehicle and a method for articulating a payload module for mobility assist are disclosed. The ground vehicle comprises a chassis; and a payload module capable of articulating relative to the chassis to assist the mobility of the ground vehicle. The method comprises articulating a payload module relative to a chassis.

Abstract: A robot includes a connector receiving portion to which a connector is connected, the connector having a hollow connector housing and first packing and second packing that maintain the hermeticity of the connector housing. The robot further includes an arm and an arm that are coupled to each other. Each arm is supported in such a way as to be rotatable about a rotation axis. Moreover, the connector receiving portion is placed in the arm in such a way that a direction in which the connector connected to the connector receiving portion is drawn coincides with a direction of the rotation axis.

Abstract: A robot arm assembly includes a first arm, a second arm; a first transmission assembly and a second transmission assembly. The first transmission assembly includes a first rotation shaft having a first bevel gear portion, a second rotation shaft having a second bevel gear portion engaging with the first bevel gear portion, and a third rotation shaft non-rotatably connected to the second rotation shaft. The second transmission assembly includes a forth rotation shaft and a fifth rotation shaft. The forth rotation shaft is rotatably sleeved on the first rotation shaft and includes a forth bevel gear potion. The fifth rotation shaft is rotatably sleeved on the second rotation shaft and includes a fifth bevel gear portion engaging with the forth bevel gear portion. An end of the fifth rotation shaft opposite to the fifth bevel gear portion is connected to the second arm.

Abstract: The invention provides a robotic arm for transporting a substrate in an ultrahigh vacuum including a carrier module and a drive module. The drive module includes a magnetic coupling, a first transmission module, a second transmission module, and a third transmission module. The magnetic coupling includes an inner shaft and an outer shaft. The first transmission module drives the first active unit of the magnetic coupling to turn a first passive unit of the inner shaft by magnetic force. The second transmission module drives the second active unit of the magnetic coupling to turn a second passive unit of the outer shaft by magnetic force. The third transmission module drives the magnetic coupling and the carrier module to perform vertical movement. The carrier module will achieve rotational motion or extending motion when the inner shaft and the outer shaft are driven by the first transmission module and the second transmission module of the drive module.

Abstract: An exemplary translational branch joint for a parallel robot includes a swing arm connected to a four-bar linkage. The four-bar linkage includes two parallel connecting bars, a first link member, a second link member, and joint members. The first link member and the second link member connect the connecting bars. Each joint member comprises a first joint portion and a second joint portion extending from the first joint portion. The first joint portion has a first axis, and the second joint portion has a second axis substantially perpendicular to the first axis. The first joint portions of the joint members are rotatably connected to ends of the first link member and the second link member, and the second joint portions of the joint members are rotatably connected to ends of the connecting bars.

Abstract: A robot arm assembly includes a support arm, a connecting arm, and an end arm. The support arm is rotatably assembled with the connecting arm along a first axis, and is located at one end of the connecting arm. The end arm is rotatably assembled to the other end of the connecting arm along a second axis substantially perpendicular to the first axis, such that the connecting arm is rotatably assembled between the support arm and the end arm.

Abstract: A desired joint torque output limiting unit limits operations of a desired joint torque output unit and a limit cancellation unit cancels the limitation by the output limiting unit. An actuator of a joint of a robot is controlled in accordance with modified desired joint torque outputted from the output limiting unit, so that the robot can be controlled even upon switching between dynamics parameters.

Abstract: A wearable robot may be worn by a user to record or teach a motion, including a motion such as sign language. The wearable robot includes a mode to record sign language data in a system by a sign language expert wearing the wearable robot and a mode to teach the sign language data recorded in the system to a sign language learner wearing the wearable robot. A user who wishes to learn sign language may easily learn sign language. In particular, a disabled person, who has poor eyesight and is unable to watch a video that teaches sign language, may learn sign language very intuitively using the wearable robot. Further, a user who has normal eyesight may also learn sign language more easily than from using a video which teaches sign language or from a sign language expert.

Abstract: An apparatus for controlling a robot capable of controlling the motion of the arm of the robot, and a control method thereof, the apparatus including an image obtaining unit configured to obtain a three-dimensional image of a user, a driving unit configured to drive an arm of the robot that is composed of a plurality of segments, and a control unit configured to generate a user model that corresponds to a motion of the joint of the user based on the three-dimensional image, to generate a target model having a length of the segment that varies based on the user model, and to allow the arm of the robot to be driven based on the target model.

Abstract: A robot control system includes a start position storage that stores a start position or orientation in a manual operation, a redundancy trajectory storage that successively stores a position or orientation of optimized redundancy during the manual operation, and a reverse movement controller which performs movement control for changing the position or orientation of a robot hand, which have been changed by the manual operation, in a reverse direction from the current position or orientation to the start position or orientation. The reverse movement controller also performs movement control for reversely changing the position or orientation of the redundancy by following the position or orientation of the redundancy that have been successively stored in the redundancy trajectory storage.

Abstract: A conveying system according to an embodiment includes a robot and a controller. The controller includes a switching unit. The robot includes an arm unit formed of a hand and a plurality of arms connected rotatably with respect to one another, and a base unit. An arm on a rear end side is connected to the base unit rotatably about a rotation axis, and the hand is rotatably connected to an arm on a front end side. The switching unit switches cylindrical coordinate control for controlling the arm unit such that a trajectory of the hand overlaps with any one of lines radiating from the rotation axis and rectangular coordinate control for controlling the arm unit such that the trajectory of the hand overlaps with none of the lines at a predetermined timing.

Abstract: A hexapod platform and a jack that can be used in the hexapod platform are provided. The jack includes a body, a piston capable of translational movement with respect to the body and a rod connected to the piston to follow its translational movement and by means of which the jack applies load. The rod is connected to the piston by means of a ball joint. The hexapod platform comprises six jacks according to the invention.

Abstract: Methods for automated handling for forming a device and automated handling systems for forming a device are presented. One of the methods includes providing a production area with a plurality of destinations and a transport system which includes transport and load/unload (U/L) units in the production area. The transport units include automated guided vehicles (AGVs) with a storage compartment for holding at least one carrier containing production material for forming the device and U/L units include AGVs with a robotic system for handling carriers. A transfer of a selected carrier from a first destination to a second destination is determined. A request to the transport system is issued to effect the transfer of the selected carrier, which includes using a selected U/L unit, a selected transport unit, or a combination of selected U/L and transport units.

Abstract: Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.

Abstract: A first angle-detecting unit outputs a first rotation angle according to the rotation angle of a rotation shaft of a servo motor. A second angle-detecting unit outputs a second rotation angle according to a rotation angle of a rotation shaft of a reduction gear. A torque calculation unit calculates the torque acting on the rotation shaft of the reduction gear according to the angle difference between the first rotation angle and the second rotation angle. An angle-control unit generates a torque reference value according to the difference between the angle reference value and the second rotation angle. A torque control unit generates a current reference value according to the difference between the torque reference value and the torque.

Abstract: A work transfer apparatus includes a work carrying mechanism, a driving source that drives the work carrying mechanism, a sealed box that accommodates the driving source in a hermetically sealed state, and a coolant circulation path provided in the sealed box for cooling the driving source. The sealed box includes a box body with an opening, and a partition lid for closing the opening. The partition lid includes an outer plate member and an inner plate member superposed on the outer plate member. The coolant circulation path is disposed at the interface between the outer plate member and the inner plate member.

Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract: A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.

Abstract: A linear motion mechanism includes a base portion; a guide member attached to the base portion; and a slider provided to slide along an axial direction of the guide member. The guide member is fastened to the base portion by a guide fastening member in a specified fastening direction substantially orthogonal to the axial direction, and is pressed by a guide pressing member in an orthogonal direction substantially orthogonal to both the axial direction and the fastening direction.

Abstract: A conveyor robot (10) includes a main body (12), a first arm (18), and a second arm (16). The first arm (18) is designed to be reciprocable between a wafer cassette and a position above the main body (12). The first arm (18) is provided with a first hand (182) having a plurality of gripping portions designed to grip a wafer. The second arm (16) is designed to be reciprocable between a position above the main body (12) and a wafer stage. The second arm (16) is provided with a second hand (162) having a plurality of gripping portions designed to grip the wafer from a different angle than do the gripping portions of the first hand (182). The gripping portions of the first hand (182) and those of the second hand (162) are positioned at equal height.

Abstract: A gripper mechanism for machines, robots and manipulation devices comprises at least one moving gripping finger, operated by coupling to an operating mechanism by two drive shafts. As a result of operating the gripping finger by two connecting bars, in turn each driven by the drive shafts, it is possible to move the gripping finger through a rotation over 180° through the path or range thereof and hence securely transmit forces and torques without tipping or getting in an unstable position. The drive shafts are divided axially into at least two parts in order to be housed completely in an enclosed and unitary gripper housing, protected from dust and dirt and hermetically sealed. The different parts of the drive shafts are centered on one another and positively connected by means of axial toothing, in the form of pinion gears and pins, and have a carrier support bearing.

Abstract: The present disclosure provides for a surgical instrument which includes a housing and an endoscopic portion extending distally from the housing and defining a first longitudinal axis. The surgical instrument also includes an end effector disposed adjacent a distal portion of the endoscopic portion. The end effector includes an anvil assembly and a cartridge assembly. The anvil assembly is pivotally coupled to the cartridge assembly to be movable from a first actuation position to at least one other second actuation position. The surgical instrument further includes a firing rod having a shaft defining a second longitudinal axis, the shaft having a cam member which is in mechanical cooperation with the anvil assembly and is configured to move the anvil assembly from the first actuation position to the at least one other second actuation position upon rotation of the firing rod about the second longitudinal axis.