Abstract: An offshore platform slot recovery tool system and method. Here, the slot recovery tool system can include a body, wherein the body comprises a plurality of supports extending therefrom, wherein the plurality of supports are configured to engage an interior surface of a conductor pipe, and an articulating arm extending from the body, wherein the articulating arm is configured in either a stowed configuration or a deployed configuration. In addition, the articulating arm is further configured to couple to a seafloor oil well casing, such that the conductor pipe is moved in a direction away from the seafloor oil well casing.

Abstract: A collision prevention system for a surgical suite includes a supply unit adjustable along a movement path from an initial position to a subsequent position within the surgical suite. A sensor is operably coupled to the supply unit. The sensor is configured to sense an object proximate to the supply unit. A controller is communicatively coupled with the sensor. The controller monitors the object sensed by the sensor. An alert device is communicatively coupled with the controller. The alert device provides a notification when the object is sensed within the movement path and provides a prevention indicator corresponding to an alternate path.

Abstract: A gear includes a body defining a portion of a sphere and including at least one curved surface. A plurality of teeth extend from the at least one curved surface. The plurality of teeth are arranged in rows and columns that define a plurality of longitudinal and latitudinal arcuate channels along the curved surface.

Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

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 humanoid robot includes a spherical joint with three degrees of freedom in rotation about three axes, the spherical joint connecting a first element and a second element of the robot, and three actuators for moving the spherical joint. The three actuators include a first actuator coupled to the first element, a second actuator coupled to the second element and the first actuator, and a third actuator coupled to the second element and the first actuator. The second actuator and the third actuator act in parallel and coupled together. The first actuator acts in series with the second actuator and the third actuator about a first axis of the three axes. An angular range of movement about the first axis is greater than an angular range of movement about either a second axis or a third axis of the three axes.

Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

Abstract: A display system includes a display panel that displays information and a movement apparatus that moves the display panel. The movement apparatus includes: a slide mechanism configured to move the display panel linearly relative to a base chassis; a right-and-left tilt mechanism configured to change an angle of a display surface of the display panel in a right-and-left direction; an up-and-down tilt mechanism configured to change an angle of the display surface of the display panel in an up-and-down direction; and a rotation mechanism configured to rotate the display panel on a rotation axis orthogonal to the display surface of the display panel.

Abstract: A robot includes a base a movable platform, a plurality of control arms, a first actuator, a plurality of second actuators, and a rotation mechanism. The plurality of control arms are rotatably connected to the base and the movable platform respectively. The second actuators are configured to respectively drive the control arms to swing. The rotation mechanism includes a shaft rotated by the first actuator. The shaft is rotatable relative to the base and the movable platform is positioned around at least two axes. The at least two axes include two axes substantially perpendicular to each other. The shaft is slidable relative to the base.

Abstract: An approach is provided for an automated patch panel. A command is received to change a connection state of an optic patch cord. A robotic arm is controlled to change the connection state of the optic patch cord with respect to a particular port of a plurality of ports disposed about a disk-shaped face of a docking panel.

Abstract: A method for simulating a movement zone of a robot having at least one data processing installation, simulating at least one movement path of the robot, comprises providing a number of selectable points on the at least one movement path of the robot, calculating a braking path for each of the selectable points, calculating a virtual movement zone based on the braking paths and a maximum position reachable by the robot for the respective at least one movement path, and carrying out the simulation of functions of the robot off-line using a software module.

Abstract: A method and apparatus for providing motor vehicle sub-assemblies with unrestricted model mix and quick changeover between models. The apparatus includes a track; a carriage mounted for longitudinal movement along the track between first and second positions; and first and second turrets rotatably mounted on the carriage at longitudinally spaced locations and each including a plurality of circumferentially spaced individual faces and unique tooling fixtures on the respective faces for receiving unique work piece components corresponding to a plurality of motor vehicle body styles.

Abstract: A telescopic tilting device 12 comprises a telescopic arm 14 which is extendable and retractable along an arcuate path 16. Preferably, the telescopic arm 14 includes two arcuate members 22, 24 which are telescopically slidable relative to each other. More preferably, the device further comprises a drive unit 20 having a flexible belt 43 for moving the telescopic arm 14. There is also provided an endoscope holding device 10 which has such a telescopic tilting device 12.

Abstract: A device for handling and/or performing work operations on objects comprises: at least a first arm (2) comprising a first end (2a) for supporting a tool (3) for moving or working; means for supporting and moving (4) the first arm (2) which comprise at least a first linear electric motor (5), developing on a closed path (P), for moving the first arm (2) along a circular trajectory (91), and at least a second linear electric motor (6), to which the first arm (2) is directly connected, developing in an arched trajectory (92). The first (5) and the second (6) linear electric motors cooperate to move the first arm (2).

Abstract: A rotation mechanism includes a flange, a shaft, a first swing member, and a second swing member. The shaft extends along a first axis. The first swing member is rotatably connected to and received in the flange around a second axis substantially perpendicular to the first axis. The second swing member is rotatably connected to and received in the first swing member around a third axis substantially perpendicular to the first axis and the second axis. The shaft extends through the flange, the first swing member, and the second swing member. The shaft is non-rotatably and slidably received in the second swing member. A robot using the rotation mechanism is also provided.

Abstract: Ball robot comprising a shell, a diametric main axle, at least one pendulum, and a drive mechanism comprising at least two drive motors, wherein the drive motors are arranged on the pendulum(s) in the vicinity of the inner surface of the shell. There is also provided a ball robot with a ball shaped shell, a diametric axle attached to the shell concentric with the main axis of rotation of the shell, and a drive mechanism located inside the shell and supported by the diametric axle, wherein the diametric axle is arranged to accommodate for dimensional changes of the shell along the main axis of rotation.

Abstract: A parallel spherical mechanism with two degrees of freedom for connecting a body to a fixed base in such a manner as to enable it to be oriented in three dimensions by turning about a first axis that is fixed relative to said fixed base, and about a second axis that is fixed relative to said body for orienting, these two axes intersecting at a center of spherical motion situated in said body for orienting, wherein: it comprises at least four links, each of said links being connected to said fixed base via a first connection point and to said body for orienting via a second connection point, and each link belonging to a first type or a second type, there being at least one link of each type, in which: in the link(s) of the first type, the first connection point is at any point of said fixed base, and the second connection point coincides with said center of spherical motion situated in said body for orienting: and in the link(s) of the second type, the first connection point lies on said first axis and the sec

Abstract: A microtiter plate transport device is configured to grip a microtiter plate in a first location. The microtiter plate transport device is configured to make a vertical approach to the microtiter plate and grip the microtiter plate in either a portrait orientation or a landscape orientation along either the opposing longer sides or the opposing shorter sides of the microtiter plate. The device comprises a Cartesian coordinate robot including a first gripping member and a second gripping member opposed to the first gripping member. The first gripping member and the second gripping member are supported by an arm configured to move along a vertical axis which extends between the first gripping member and the second gripping member. The first gripping member and the second gripping member are configured to rotate about the vertical axis.

Abstract: A parallel kinematic positioning system 10 (PKPS 10) that is comprised of a stationary base plate (12) and an upper movable platform (28) to which is attached a workpiece or an instrument. Between the stationary base plate (12) and the upper movable platform (28) are positionally attached six strut assemblies (50). The six strut assemblies operate a hexapod that include in combination, a counterbalance subassembly (111), a servo motor subassembly (134), a bearing and encoder subassembly (156) and an electronics circuit (190). The combination accurately and repeatably positions the upper movable platform (28) within six degrees of freedom relative to the base plate (12).

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: An articulated robot having a low lowest posture, a long up-down stroke, and such rigidity that the predetermined positional accuracy can be secured is provided. It includes a first arm (42) which is rotatable about a first horizontal axis (43), a second arm (44) which is rotatable about a second horizontal axis (45) at the other end of the first arm (42), a third arm (46) which is rotatable about a third horizontal axis (47) at the other end of the second arm (44), an up-down table (48) which is rotatable about a fourth horizontal axis (49) at the other end of the third arm (46), a fourth arm which is rotatable about the first horizontal axis (43) and rotatable about the second horizontal axis (45) at its other end, a first parallel link mechanism (53), a second parallel link mechanism (56), and a third parallel link mechanism (58).

Abstract: An industrial robot including a drive package with a motor and a gear between an output shaft of the motor and a third shaft of the robot in immediate proximity to the third shaft for rotation of an upper arm of the robot relative to a lower arm. The gear is a multistage gear transmission with parallel gear-wheel axes and one of the gear wheels of the gear is secured to the third shaft.

Abstract: A parallel kinematic machine has a parallel kinematic mechanism including an end effecter and a parallel link mechanism. A numerical control device controls a position and orientation of the end effecter based on kinematics of the parallel kinematic mechanism. A posture setter sets an adjustment tool on the end effecter in a known posture in a reference coordinate system defined outside the parallel kinematic mechanism based on a measurement method. A data acquirer acquires data in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool in the known posture, and defines a correlation between kinematic parameters for the parallel kinematic mechanism and the reference coordinate system. A calculator calculates the kinematic parameters based on the acquired data by using a relational expression describing forward kinematics of the parallel kinematic mechanism.

Abstract: A sequential stepped movement staging device comprises six legs 70 of equal length extending radially from a central sphere 46 in an X-Y-Z orthogonal relationship. The sphere 46 and legs 70 are held in a horizontally fixed position relative to a support surface 14 by a holder including a primary retaining member 40, a secondary retaining member 74 fixed in superposition to the primary retaining member 40, and an alignment cylinder 84. The secondary retaining member 74 is slidably disposed in the alignment cylinder 84 to allow for vertical movement of the sphere 46, legs 70, and retaining members 40, 74. One of six actuating rods 94 pushes down on one of three upwardly extending legs 70H thereby rotating the sphere 46 and causing two of three downwardly descending legs 70L to move a work surface 16 capable of horizontal sliding movement over the support surface 14 from a first position to a second position. In one embodiment of the invention shown in FIG.

Abstract: Apparatus for the precise positioning of an object such as a work platform relative to a base, comprising, for each of three orthogonal axes, a flexure coupling between the work platform and the base, at least one of the flexure couplings having a rotary bearing and rotary positioning device where it connects with the work platform or the base. The apparatus provides precise positioning in up to three orthogonal rotational axes and up to three linear axes, and it is useful in the electro-optics industry.

Abstract: A robotic self-feeding device uses a multiplicity of dishes, utensils and control methods to handle a wide variety of food, including sandwiches. Its operating sequence has a hover mode in which a utensil is automatically steered over a food holder and is constrained from moving away from the food holder. The user points to the desired food with the utensil and triggers pickup which is automatically accomplished. Its gripper can operate tong utensils to grasp food. It can cut food. The process of eating is thus easy and intuitive for people who may have a wide variety of severe paralysis disabilities.

Abstract: A compliant controller implements a biological model of a primate muscle so as to provide simultaneous position and force control with nonlinear damping for an actuator. The compliant controller uses one or more position sensors but does not require the use of a force sensor to provide force control. The compliant controller implements a force determining algorithm that is a function of an initial actuator position, a subsequently sensed actuator position, a desired actuator position and a position calculated from a nonlinear damping function. The algorithm updates or resets the initial actuator position or the calculated position depending upon the amount of actuator movement sensed. The compliant controller in accordance with the force determining algorithm and resetting of the various position values allows a desired position to be quickly attained while allowing the controller to compliantly respond to the presence or removal of an unknown or unexpected disturbing force.

Abstract: The present invention provides a robotic dispensing apparatus comprising a gear pump operably coupled to a rotatable element positioned along the sixth axis of a multi-axis robot such that the gear pump is driven by the multi-axis robot. In one embodiment of the present invention, a sixth axis motor of the multi-axis robot drives the rotatable element and a dispense valve communicates with the gear pump for receiving and dispensing viscous material from the gear pump. Preferably, a flexible coupling interconnects the gear pump and the rotatable element and a manifold and piping system cooperate to deliver the viscous material pumped by the gear pump to the dispense valve.

Abstract: A moving member 2 is rotatably and slidably arranged in a holder 11 having a spherical inner surface 11a. An inertia body 5 is connected to the moving member 2 via a supporting member 4. At a location opposite the inertia body 5, an arm 3 extends so that it is directed outwardly via an opening of the holder. A piezo electric actuator 63 is arranged between the rotating member 2 and the supporting member 4. An elongation of the actuator causes a relative swing movement between the inertia body 5 and moving member to occur in one direction such that a reaction force in the moving member 2 due to the inertia of the inertia body 5 exceeds the frictional force between the moving member 4 and the holder 11, which allows the moving member 4 to be displaced with respect to the holder 11.

Abstract: A treatment system is disclosed, which has a treatment apparatus for performing a predetermined treatment for a planar workpiece contained in a carrier, and a first air-tight carrier storage chamber for storing the carrier. The treatment apparatus has an air-tight second carrier storage chamber. An inert gas supply pipe and an exhaust pipe are connected to each of the treatment apparatus, the first carrier storage chamber, and the second carrier storage chamber. An open/close valve and an open/close device are connected to each of the inert gas supply pipes and the exhaust pipes.

Abstract: An industrial robot is provided with robot hands (44, 46) capable of being moved by turning actions between a workpiece handling position to which a workpiece is transported and at which the workpiece is fed to the chucking device (10) of a machine tool and a standby position away from the workpiece handling position. The robot also incorporates a robot hand (42) capable of being turned in a plane at the workpiece handling position to align a workpiece with the chucking device (10) of the machine tool, and a pneumatic cylinder actuator (48) capable of linearly moving the robot hand (42) toward the chucking device (10) and away from the chucking device (10) so as to remove a workpiece from the chucking device (10). The industrial robot can be readily fixed to the bed of the machine tool by bolts, for example.

Abstract: A hybrid position and force control system for a robotic manipulator. A displacement error signal of an end effector such as a robotic hand is multiplied by a pseudo-inverse of a matrix product of a selection matrix and a Jacobian matrix to provide a joint displacement error signal in the coordinates of the various joints of the manipulator. The system may be tuned for obstacle avoidance and the like by means of a joint tuning signal having displacement and force components each produced by multiplying a user-provided tuning signal by a matrix difference between an identity matrix and a matrix product of a pseudo-inverse of the Jacobian mattrix and the Jacobian matrix.

Abstract: A transporter or transport robot especially for transporting workpieces between presses has a cantilever arm swingable about a vertical first axis on a stationary base and a horizontal second axis in a common plane. A linear positioner is swingable at a free end of this cantilever arm about a vertical third axis and carries a gripper head on which the gripper is mounted for rotation about further axes. The workpiece can thus be swung across the first vertical axis to maintain its position along a line between the presses if the linear positioner and cantilever arm will swing in opposite senses. The actuator for the angular displacement may be electrical or hydraulic and a linear motor can be provided for the linear positioner.

Abstract: Herein disclosed is a gravity compensating mechanism for an articulated type industrial robot having upper and lower arms whirling in the direction of gravity. The upper and lower arm gravity compensating mechanism includes a cam mechanism and an elastic member in the robot to solve problems: that the whirling range of the robot arms is narrowed by the spring means of the gravity compensating mechanism; that the gravity compensating mechanism is disposed outside of the robot arms to restrict the working space; and that it is difficult to disposed the gravity compensating mechanism for the upper arm.

Abstract: An industrial robot apparatus for palletizing or depalletizing loads onto or from a pallet, having a robot body, a slider supported on the robot body and movable in a first direction, a mechanism for moving the slider, a first arm provided on one end of the slider and rotatable parallel to a plane perpendicular to the first direction, a first motor for rotating the first arm, a second arm provided on a distal end of the first arm, rotatable parallel to the perpendicular plane and substantially extendible and retractable, a second motor for rotating the second arm, an extension/retraction mechanism for substantially extending and retracting the second arm, a wrist provided on a distal end of the second arm, rotatable parallel to the perpendicular plane and used to hold a load; and a third motor for rotating the wrist.

Abstract: A universal joint boom assembly comprising two boom segments having paired eared ends connected end to end by means of a universal joint with one of its set of ears parallel to an X axis and the other set of ears parallel to a Y axis which is perpendicular to the X axis. An offset X axis hydraulic assembly and an offset Y axis hydraulic assembly interconnects the boom segments to cause pivoting of the boom universal joint so as to lean a boom segment in the direction of the X and Y axes respectively.

Abstract: A horizontal/vertical conversion transporting apparatus, wherein a mechanism for variably changing a distance between upper and lower boat hands for clamping an article therebetween is mounted on a conversion arm, the conversion arm is vertically movable along a support arm, and at the same time, the conversion arm is rotatable within the plane of vertical movement.

Abstract: An industrial robot apparatus has a plurality of robots mounted for movement along a pathway. When a malfunction sensor detects a malfunction of one of the robots, a withdrawal controller withdraws the malfunctioning robot from the pathway, and the operation usually performed by the malfunctioning robot is allotted to one or more of the remaining normal robots by an operation allotter. A normal robot to which an operation is allotted is controlled by a hand replacement controller to replace its detachable hand with a hand corresponding to that of the malfunctioning robot.

Abstract: An automatic setting method is provided, in which the position of a tool tip point in a coordinate system set for a faceplate of a robot, can be set easily and accurately. The robot is caused to assume different postures while maintaining the tool tip point of a tool (2) at one point (4) within a space in which the robot is installed. Four or more coordinate positions of a faceplate center point (3) corresponding to the individual postures of the robot are given for instruction. Subsequently, a spherical surface (5) passing through these instruction positions is determined by the method of least squares, and the position of the tool tip point in the faceplate coordinate system is calculated and set on the basis of a calculated value of the position of the center of curvature of the spherical surface, the individual instruction coordinate positions, and tool posture vectors.

Abstract: A cantilever mounted table for an X-ray patient undergoing procedures requiring tilting the table head to foot or canting the table about its longitudinal axis allows a medical team free axis to one side and an end of the patient, and provides an improved collision sensing switch in the event the table strikes an obstruction below.

Abstract: A method is provided for controlling the movement of an object 1, 61, in an environment 64. The method involves making predictions of collisions, given the outlines of the object and the environment, so that avoiding action can be taken. The object and environment are modelled as clusters of interpenetrating spherical bubbles, the model comprising the relative positions of the centers 6, 7, 8, 9, and 21 to 28 inclusive of the bubbles and their respective radii. The model simplifies the prediction of the point of collision of two such modelled objects by examining the collisions between bubbles only. An early, safe, approximate prediction of the collision can be obtained using Newton's approximation.

Abstract: Arm device adapted to move and position a first basic part (6) relatively to a second basic part (4), comprising at least three arms (1,2,3,7) capable of being extended and shortened in a controlled manner, said arms being free to pivot in attachments (5) on the second basic part, while one attachment on the first basic part is rigid, and one of said arms is torisonally rigid. A third basic part (15) is connected to the first basic part through a joint (16), and at least one auxiliary arm (12,13) is at one end connected to one of the arms (7) through a joint, while the other end of the auxiliary arm is connected to the third basic part (15), and the lengths of the auxilary arm can be varied. Thereby is achieved that the arm device has a large number of degrees of freedom with respect to movement of the third basic part, which holds a tool or a tool holder. Moreover, the tool or the tool holder may be journalled for rotation relatively to the third basic part ( 15).

Abstract: A robot (10) includes a statically-balanced direct-drive arm (14) having three degrees of freedom, all of which are independent articulated drive joints, the driving axes of two of which intersect at the center of gravity of the arm to eliminate gravity forces on the drive system without counterweights.

Abstract: A drive for inducing pivoting rotational and linear movements includes a drive unit comprising two coaxial motors and having a pivot axis and a rotation axis normal to the pivot axis, and a drive element formed as a linear drive. The drive unit operated to induce swinging movements about the pivot axis and rotational movements about the rotation axis is interchangeably and releasably connectable to the linear drive. A transmission device interconnects the drive unit with the linear drive.

Abstract: The invention relates to an industrial robot of the kind comprising a body and an arm system pivotally journalled thereon. In order to achieve an improved and extended working range in a vertical space underneath or above the robot, the arm system is supported in the body via a substantially fork-shaped bearing bracket. Linear actuators intended for the operation of the arms are pivotally journalled in the bearing bracket so that, when the arm system assumes its neutral position, the actuators will be oriented primarily transversely to the longitudinal axis of a body and substantially parallel with the first arm pivotally journalled in the bearing bracket. Both actuators are disposed between the body and the first arm in all positions of the arm system.

Abstract: A rotary mechanism for robot manipulators and the like has a housing and a shaft moveably disposed in the housing so that an end portion thereof is movable toward and away from the housing. A cylinder and piston assembly is connected to the shaft for moving the shaft. A robot manipulator is connected to the end portion and a mechanism for operating the manipulator is also carried there. A support is connected to the shaft and is carried therewith and is disposed at a distance from the end portion. A chain drive system is operatively associated with the shaft for rotating the shaft on the longitudinal axis thereof. A pair of braces are disposed in the housing and are engaged with the support for preventing rotation of the support during operation of the chain drive mechanism.

Abstract: A power transmission device includes a rotatably mounted drive screw, a nut element which is movable along the drive screw, and a pair of links which connect the nut element to a driven member. The links are rigidly connected to each other by a torsionally stiff member to prevent relative angular movement therebetween.

Abstract: A robotic wrist joint comprises a spherical member which is mounted within a ring shaped housing for rotational movement in any direction. A control pin extends from an outer surface of the spherical member. A first semi-circular yoke is pivotally mounted to the ring shaped housing and carries a first track. A second yoke is provided in a position radially inwardly of the first yoke. The second yoke is also semi-circular and is mounted for rotation on the housing about an axis perpendicular to the rotational axis of the first yoke. The second yoke carries a second track. The control pin extends into both the first and the second track so that the spherical member can be brought into any desired location by selectively pivoting the yokes.

Abstract: The conveyor robot which, in particular, is intended for being mounted between presses, comprises a double arm (14) that is rotatable about a central, vertical axis (12) and swingable about a central, horizontal axis (16). Both ends of the double arm (14) support engaging members (26) which, independently of one another, are extendable to opposite sides. The double arm (14) is formed with an articulated joint the axis of which coincides with the central, horizontal axis (16). The two parts (36,38) of the double arm (14) separated by the articulated joint are interconnected by a cross-bar (28) variably adjustable in length.

Abstract: A novel mechanical hip joint for attaching a robotic leg to a body member is described, which comprises, a housing adapted for connection to the body member, a spherical socket defined within the housing, a ball joint received by the socket for rotational movement about a first horizontal axis, a bearing member rigidly interconnecting the leg and the ball joint and presenting a bearing surface confronting the housing and socket, and a motor interconnecting the housing and bearing surface for selectively imparting rotary movement to the leg, about a second horizontal axis transverse of said first axis, between first and second angular limits.