Abstract: A workpiece transfer apparatus includes a support member and first and second control shafts. The control shafts are rotatably supported by the support member in a spaced-apart configuration. A workpiece support is operably connected to the first and second control shafts. The workpiece support is shaped to support a workpiece during transfer. Rotation of the first control shaft shifts the workpiece support in a first direction, and rotation of the second control shaft shifts the workpiece support in a second direction. A lead screw is disposed parallel to the control shaft, and shifts the workpiece support along the lead screw upon rotation of the same.

Abstract: A triple epicyclic differential transmission for converting three parallel inputs to three orthogonal outputs. The triple epicyclic differential transmission includes three input shaft/pinion assemblies and a ring gear assembly which includes three ring gear pairs--each pair driven by an input shaft/pinion assembly in an epicyclic manner. An outer structure assembly is rotatably mounted to the ring gear assembly and an idle pulley assembly is pivotably mounted to the outer structure assembly. An output pulley assembly is rotatably mounted to the idle pulley assembly and driven by the ring gear assembly via the idle pulley assembly.

Abstract: A wire-and-pulley drive link mechanism such as a robot hand, comprising a base, a linkage connected to said base by a first joint and having a first link and a second link connected by a second joint like fingers. The base carries motors for individual links. A wire-and-pulley drive system is provided such that said linkage moves relative to said base and said first link moves relative to said second link moves when driven by said motors. The wire is made of amorphous material and a coil is wound on each of the wires to detect stress or tensile force by sensing a change of magnetic permeability generated when the wire is subject to external force. A control system having a joint servo is provided and determines a manipulated variable to be supplied to the motor based on at least the detected stress and a servo gain.

Abstract: A "master-slave" remote manipulation apparatus having six degrees of freedom. The apparatus includes a flexible parallelogram with two parallel arms hinged to a cross member with one degree of rotational freedom and to a frame with two degrees of rotational freedom; two parallel-hinged "master" and "slave" devices at the end of each respective arm; and five two-way linear motion transmitting devices between the "master" and "slave" devices.

Abstract: A linear motion apparatus for moving an object in a vacuum chamber comprising an antenna or a telescoping shaft such as a fishing rod to effectively utilize space, and to avoid the need of a rear projection thereby achieving stability.

Abstract: The invention resides in an improved transport mechanism which utilizes a linkage having a plurality of end effectors disposed at one end thereof. Movement of a drive linkage in a first rotational direction causes opposite rotation at the end effectors so that the center of the articles carried by the end effectors are moved in a straight line path as between first and second locations.

Abstract: A robot arm and an apparatus for transferring an article. The robot arm includes a movable hand for holding the article. A first arm has a proximal end that rotatably supports a drive pulley and a distal end that rotatably supports a driven pulley. The pulleys are connected to each other by a belt. A second arm and a third arm each have a proximal end and a distal end. The proximal ends of the second and third arms are pivotally supported by the driven pulley. The distal ends of the second and third arms are pivotally coupled to the hand. The driven pulley, the second arm, and the third arm cooperate with the hand to define a parallel linkage mechanism. A first motor pivots the first arm about its proximal end. A second motor rotates the drive pulley. A pivoting mechanism pivots the second arm about its proximal end relative to the first arm in correspondence with the pivoting of the first arm.

Abstract: In a transmission gear for transmitting two rotary motions from a driving mechanism to a working mechanism, the transmission gear comprises a cylindrical support member, a flexible cylindrical member fixedly supported by the cylindrical support member, first and second input shaft members, and first and second output shaft members. The first and second input shaft members have non-circular peripheral portions, respectively. The first and second output shaft members have internal circular portions radially opposite to and spaced apart from the non-circular peripheral portions of the first and second input shaft members, respectively. The flexible cylindrical member interposes between the non-circular peripheral portions of the first and second input shaft members and the internal circular portions of the first and second output shaft members.

Abstract: The actuator is in the form of a helical spring. The helical spring in this case has an S-shaped cross-sectional profile and is constructed in such a way that the respectively lower edge overlaps the respectively upper edge of an adjacent spring turn. Tension cables which are guided along eyes on this spring can curve and compress the latter, and the spring can be stretched again by further tension cables, which are preferably provided and are guided in loops around the mutually overlapping edges. In addition, blocking apparatus with which it is possible to deliberately block adjacent spring turns are provided in the form of control elements in the overlap zone. The actuator can be imparted in any desired shape by suitable application of tension and, as the case may be, pressure in conjunction with the blocking apparatus. Fields of application are service robots for use in office or domestic environments, or low-cost production robots.

Abstract: A flexible manipulator is constructed of parallel elements which are layered one over the other along a stacking axis and preferably have at least three bores on the circumference, which are aligned to form a guide arrangement. Projecting sleeves are provided at the bores and extend telescopically into one another from respectively two adjacent elements. Elastic rods are guided through the bores, which rods are fastened at one end of the manipulator and exit freely at the other. The manipulator can be brought into an arbitrary shape through the tension and pressure created by displacing of these rods in a particular manner. In addition, a blocking material is provided in the invention which can lock the sleeves of adjacent elements from movement so that a displacement of a rod will be directed between a different pair of elements. The locking or blocking of the movement of the sleeves can be obtained by utilizing the rotation of the actuating rods.

Abstract: A transfer robot has a base, first and second intermediate arms, and a distal arm. First and second pulleys are fixed to driving and driven shafts of the first intermediate arm, respectively, and a flat belt is looped around the first and second pulleys. Each of the pulleys has an inner boss and an outer collar, and an eccentric ring is attached to the boss. In each of the pulleys, the flat belt surrounds a periphery of the collar, and is introduced into the collar through a side opening of the collar, and further surrounds a periphery of the eccentric ring. The tension of the flat belt is adjustable by adjusting the position of the eccentric ring relative to the boss in an angular direction.

Abstract: A robot with a base, a first link connected to the base by a shoulder joint, and a second link connected to the first link by an elbow joint. A shoulder motor drives the shoulder joint, and an elbow motor drives the elbow joint. An upper elbow pulley is coupled to the first link. An end effector pulley coupled to the upper elbow pulley, and a dual-bladed end effector driven by the end effector pulley. The diameter of the upper elbow pulley and the diameter of the end effector pulley are related by a 1:2 ratio. Ferro-fluid seals are used to seal each joint. A static seal joins the seams of the links. Each arm link has a particle filter. The robot can communicate electrical signals through the revolute joints with a conductive slip-ring assembly. Alternately, the joint may have an inner cylinder and an outer cylinder, and a cable may be coiled between the cylinders.

Abstract: A robotic arm utilizing two pulleys connected by two metallic drive bands wound in opposite directions and rotatably attached to the pulleys. The metallic drive bands may include multiple metal strips separated by a visco-elastic material. One end of one drive band is attached to the pulley by a pin. A positioning mechanism is provided to adjust the tension of the band. The positioning mechanism includes a retaining piece, a wedge piece and an adjustment piece. The retaining piece is laterally movable and has an attachment point to the metal band and a slanted face. The wedge piece is vertically-movable and has a face abutting the slanted face of the retaining piece. The adjustment piece attaches the wedge piece to the pulley and moves the wedge piece vertically.

Abstract: A robotic wafer handler has first and second arms pivotally connected at a swing point to operate in a plane. Each arm is independently drivable through greater than 360.degree. of rotation in the plane. The wafer handler may also include mechanisms for adjusting the plane of rotation, i.e., for providing lift and tilt.

Abstract: A two-axis Cartesian robot is described comprising a first horizontally disposed support having a first carriage selectively movably mounted thereon. A second support is operatively secured to the first carriage and extends perpendicularly from the longitudinal axis of the first support. A second carriage is vertically movably mounted on said second support. A belt pulley is rotated by a reversible drive motor. A drive belt is driven by the drive motor and operatively connected to the upper and lower ends of the second support by a pulley arrangement. Horizontal and vertical brakes are provided to control the horizontal movement of the first carriage and the vertical movement of the second carriage. A workpiece gripper or handling member is mounted on the second carriage for movement therewith.

Abstract: A hybrid differential transmission for converting two parallel inputs to two orthogonal outputs. The hybrid differential transmission includes two input shafts, an internal structure assembly which includes two ring pulleys, one each driven by an input shaft, an outer structure assembly rotatably mounted to the internal structure assembly and an output pulley assembly which is secured to the outer structure assembly. The output pulley assembly includes two output pulleys each of which are driven by one the ring pulleys.

Abstract: Basic interchangeable building blocks such as to create a structure and/or an exoskeleton for an apparatus for monitoring and controlling the movements of body members comprising a single axis joint adaptable axis joint, an axial rotation joint, a wrist rotation joint and a linear motion transmission joint, all of which can be spring controlled and/or be controlled by a rotation transmitting cable each having means for producing electrical signals indicative of their movement and can be coupled together so as to permit electrical conduction and rotation transmitting cables to be passed through them.

Abstract: An industrial robot provides precision control of a rotating axis without generating fluctuations in rotating axis direction during movement of the rotating axis due to positional movements of first and second robot arms in which the first arm is supported by a base as a center of rotation and the second arm is supported at its mid-point by the other end of the first arm.

Abstract: The robot has a first rail which extends in one direction and has a first slide mounted thereon, the first slide being slidable along the rail. A second rail extends away from the first rail, and has one end secured to the first slide. First and second motors are mounted in fixed positions relative to the first rail, the motors driving first and second drive belts. The first drive belt is attached to the first slide, thence routed around a first pulley at one end of the first rail, thence around a second pulley at the other end of the first rail, and thence back to the first slide. This produces movement of the first slide along the first rail.

Abstract: A pellet conveying device used with a bonding machine for, for example, semiconductor devices, including a conveying arm that has a collet for holding pellets. The conveying arm can move vertically and pivot horizontally by two different driving sources so that the collet can be moved between predetermined two positions such as a pellet pick-up position and a pellet releasing position.

Abstract: An articulated robot comprises a parallelogrammic linkage comprising a fixed base (1) having a horizontal upper surface, a first arm (2) pivotally supported for turning about an axis perpendicular to the upper surface of the fixed base (1), a first auxiliary link (3) parallel to the first arm (2), and a second auxiliary link (4) pivotally joined to the respective extremities of the first arm (2) and the first auxiliary link (3); and a second arm (5) supported on the second auxiliary link (4) for turning about an axis parallel to the axis perpendicular to the upper surface of the fixed base (1). The motion of the second arm (5) is not restricted by the first arm (2), and the articulated robot is capable of moving a work between two separate points at a high speed.

Abstract: An articulated arm transfer device having a pair of upper arms and a pair of forearms. Each upper arm is rotatable at its shoulder end. Each forearm is rotatable at its wrist end. The elbow ends of the upper arms and the forearms are connected to each other by a link. The shoulder ends are mounted on a support in such a manner that one upper arm is rotated by a drive, and a holder for an object to be transferred is mounted on the wrist ends. The link includes shafts upon which the elbow ends are mounted. At least two S-bands connect the shafts in such a manner that rotation of one shaft in either direction causes rotation of the other shaft in the opposite direction. The elbow end of one upper arm is fixed to its shaft, while the elbow end of the other upper arm is rotatably mounted on its shaft.

Abstract: Disclosed is a flexible robot arm structure utilizing an elongate skeletal frame member which can be controlled to assume any of a number of curved shapes as in the performance of automated operations. The arm functions somewhat like the body of a snake or an elephant's trunk. The skeletal frame defines a plurality of similar elemental segments disclosed in the form of disc-like structures as well as turns in a helical loading configuration. The helical form includes interleaved flexible helix members interconnected in a chain-link form. Displacement of sections in the arm is accomplished by the action of two separate mechanisms. A deflection mechanism provides power to flex or curve an arm section while a distribution mechanism distributes the curvature along the length of the arm to seek a smooth, circular curve. Illustrative embodiments use hydraulic actuators integral with the frame; however, equivalents are disclosed. The resulting arm is a highly repetitive, mechanical structure.

Abstract: Handling apparatus, in particular a telescopic cylinder having at least one retractable and extendable telescopic part. For handling objects, in particular bobbins of wound packaging material, in conjunction with packaging machines, use can be made of long-stroke telescopic members (10) which effect the automatic movement of a load-bearing pin for each bobbin. The telescopic members (10) can be extended by compressed air and can be drawn in by a tension member (20). The tension member (20) is arranged outside the telescopic member (10), is fixedly anchored by one end, and can be wound up and unwound by the other end. The tension member (20) runs over a deflection wheel (23) arranged at the free end of the telescopic member (10), namely on a piston rod (15) of the same.

Abstract: A three degree-of-freedom robotic manipulator is constructed from three rotary drives. The rotary drive consists of a relatively small diameter cylindrical driving member coupled to a larger diameter cylindrical driven member. The driven member of a second rotary drive is mounted perpendicularly to the driven member of a first drive. The driven member of a third drive is mounted to the periphery of the driven member of the second drive with its axis of rotation parallel to the driven member of the second drive. The driving member of the third drive is located with its axis of rotation coincident with the axis of rotation of the driven member of the second drive. Motors powering the second and third driving members are mounted to the driven member of the first drive roughly centered over its axis of rotation. An extension arm for mounting the end effector is fixed to the driven member of the third drive. This arrangement reduces the number of required components and minimizes motor movement to reduce inertia.

Abstract: A two-axis Cartesian robot is described comprising a first horizontally disposed support having a first carriage selectively movably mounted thereon. A second support is operatively secured to the first carriage and extends perpendicularly with respect to the longitudinal axis of the first support. A belt pulley is rotated by a reversible drive motor and is operatively connected to the upper and lower ends of the second support by a pulley arrangement. A horizontal brake is provided to control the movement of the carriage with respect to the first support. A vertical brake is provided to control the movement of the second support with respect to the carriage. A workpiece handling member is mounted on the lower end of the second support for manipulating the workpiece being handled.

Abstract: A feeder for transferring workpieces from one press to another on a press line includes a carrier device with a linkage whose free, load-carrying end executes a horizontal linear movement on both sides of the carrier. The end of the linkage system is secured in an elongate boom whose longitudinal direction coincides with the linear movement. The boom is provided with a holder device appropriate to the workpieces and movable along the boom by an endless belt which, at the ends of the boom, runs over rollers and which, with the lower part, is secured in the holder device and, with the upper part, in the carder device. The boom is provided with a sliding guide and is supported on the carrier device.

Abstract: A clean robot capable of a linear conveying motion comprises a base, a first arm rotatably supported by the base, a second arm rotatably supported by the first arm, and a third arm rotatably supported by the second arm. Also provided are a first driving unit for rotating the first arm with respect to the base in a first rotational direction at a first angular velocity, a second driving unit for rotating the second arm with respect to the first arm in a second rotational direction reverse to the first rotational direction at a doubled angular velocity of the first angular velocity, and a third driving unit for rotating the third arm with respect to the second arm in the first rotational direction at the first angular velocity.

Abstract: This apparatus comprises a mechanically simple and lightweight tractor mechanism for use with a robotic object handling system to retrieve objects from a plurality of object storage locations. A finger gripper mechanism is used to grasp an object with a predetermined amount of force. The finger gripper mechanism is enclosed by a substantially rectangular box-like enclosure. The finger gripper mechanism is attached to a carriage which is moveable along one axis of the rectangular enclosure on a pair of tracks, which tracks are located one on each of two opposite sides of the interior of the enclosure. The carriage rides on these tracks and is transported from a retracted position entirely within the enclosure to an activated position juxtaposed to an opening in the enclosure by a tractor mechanism that makes use of a pair of toothed belts, each belt being juxtaposed along the length of one of the tracks on which the carriage slides.

Abstract: A base end portion of a lower arm is mounted on a revolutionarily drivable revolution portion at a specific offset from the revolutionary axis thereof, and an upper arm is mounted in the lower arm, with the lower and upper arms being rotationally drivable within a plane parallel to the revolutionary axis. In a motor casing, three motors for driving three dimensional motions of a wrist are disposed in a vertical direction with their axes being in parallel. Since the upper arm is offset from the revolutionary axis, both right-handed operation and left-handed operation can be easily selected, and the work range of this robot can be increased while its installation space can be reduced. The lower arm has a motor for driving the upper arm at the lower part thereof apart from a gearbox for the upper arm. Power of the motor for driving the upper arm is transmitted to the gearbox through a power transmission member. Such structure enables to reduce thickness of the lower arm.

Abstract: An apparatus for automatically handling a workpiece between automated workstations wherein the workpiece is lifted from an unloading workstation, moved along a predetermined linear reciprocal path between work stations while simultaneously inverting the workpiece, and lowering the workpiece into a loading workstation. The apparatus provides a vertical lift portion and an articulating portion for manipulating the workpiece. The vertical lift portion utilizes a compact design to minimize space requirements and moving parts by providing both vertical movement and rotational movement within a common structure. The articulating portion is attached to the bottom of the vertical lift portion and provides a pivot arm that is pivotally attached to a workpiece holder. The vertical lift portion provides a rotational input to a harmonic drive unit which has its output coupled to the pivot arm. When the pivot arm rotates, a continuous timing belt provides for counter-rotational movement of the workpiece holder.

Abstract: A three-axis robot is described comprising a first horizontally disposed support having a first carriage selectively movably mounted thereon. A second support is operatively secured to the first carriage and extends transversely from the longitudinal axis of the first support. A second carriage is longitudinally movably mounted on the second support and has a third support selectively vertically movably mounted thereon. Through the use of belts and brakes, the second support may be selectively moved relative to the first support and the third support may be selectively vertically moved relative to the second support. Thus, one axis of drive actuation can provide multiple axes of motion.

Abstract: A variable speed drive mechanism for transferring a workpiece in an accelerated and decelerated motion comprising a pair of spaced carrier arms driven by a main shaft that rotates through a fixed stationary gear. A set of pulleys is mounted between the carrier arms and a flexible drive member drivingly connects the stationary gear and the pulleys. One of the set of pulleys drives a pair of bellcranks each of which is operatively connected to a transfer arm through a roller and cam slot arrangement. The connection between the bellcrank and the transfer arm provides a more desirable acceleration and deceleration movement of the transfer arms.

Abstract: An anatomically correct, humanlike, mechanical arm and hand is provided that an operator can control to perform with the dexterity and compliance of a human hand. Being humanlike and robotic enhances the device's control and gripper dexterity. Control of the movement of the arm and hand is performed or guided by a "teachglove" worn by the operator. As he or she performs some hand manipulation, a controller stores signals from sensors on the exoskeleton. The sensors monitor the operator's finger-joint movement positions. These values are later translated into actuator control signals for servomotors, eventually duplicating the operator's movement.

Abstract: An articulated arm transfer device employs a pair of upper arms each upper arm being rotatable at its shoulder end, and a pair of forearms each forearm being rotatable at its wrist end. The elbow ends of each pair are connected to each other by a link means. The shoulder ends are mounted on a support in such a manner that one upper arm is rotated by a drive means, and holding means for an object to be transferred is mounted on the wrist ends. The link means includes shafts upon which the elbow ends are mounted and at least two S-bands connecting the shafts in such a manner that rotation of one shaft in either direction causes rotation of the other shaft in the opposite direction. The elbow end of one upper arm is fixed to its shaft, while the elbow end of the other upper arm is rotatably mounted on its shaft.

Abstract: A force transducer for a robotic arm comprises a plurality of axially-contractible cells. Each cell includes first and second end pieces which are interconnected by a pair of flexible connecting members. The connecting members are disposed on opposite sides of a longitudinal axis. The connecting members are deflected inwardly towards the longitudinal axis by a pair of electromagnets to cause a change in length of the transducer. The transducers can be used to impart movement robotic devices.

Abstract: A transfer apparatus for transferring a semiconductor wafer has a base provided with a rotary driving source, and four arms having the same length. A first inner arm has an end fixed to the rotary driving shaft, and the other end fixed to a first coupling shaft. A second inner arm has an end supported by the base such that it can rotate about a pivotal point, and the other end is rotatably connected to a second coupling shaft. A transmission mechanism is provided between the first and second coupling shafts. A first outer arm has an end rotatably connected to the first coupling shaft, and a second outer arm has an end fixed to the second coupling shaft. The other ends of the first and second outer arms are rotatably connected to a supporting plate having a wafer-holding portion. The four arms are arranged so as to have a link structure in the form of a parallelogram, which enables linear transfer of a wafer.

Abstract: A three-axis Cartesian robot is described comprising a first horizontally disposed support having a first carriage selectively movably mounted thereon. A second support is operatively secured to the first carriage and extends transversely from the longitudinal axis of the first support. A second carriage is longitudinally movably mounted on the second support and has a third support selectively vertically movably mounted thereon. A dual cable driver traversing pulley is rotated by a reversible drive motor. First and second cable members are wrapped around the traversing pulley in opposite directions. The cable members are operatively connected to the upper and lower ends of the third support by a pulley arrangement. Traverse, horizontal and vertical brakes are provided to control the movement of the carriages and the third support.

Abstract: An articulated direct drive robotic manipulator providing rotation of first and second arms about first and second parallel axes including first and second motors for driving the rotation of the first and second arms. A pedestal is mounted on a base, the first motor is directly coupled to a rotatable column in the pedestal for providing a first robot arm with a first degree of freedom, a second motor is coupled to a rotatable column coaxial to the first column for providing the manipulator with a second degree of freedom by rotation of the second arm. The distal end of the second arm includes support for an end effector for movement about a third axis which is a vertical axis and a fourth axis which is a rotational axis and support for a quill. Also included is a modular device adapted to be coupled to the end of the quill which can move within horizontal planes passing through the third axis to provide a fifth degree of freedom.

Abstract: A light weight conventional robot and method for use in connection with the surface preparation of large objects. The robot has a tool attached to an object flange which is supported by a collapsible member, allowing the tool to move to and fro. The member is pivotally mounted to a base so that the tool may be manipulated in all directions. There are at least three independently mountable blocks which allow the robot to be easily adapted to the work envelope without any change to the envelope itself. Tensile members connect the mounting blocks to the object flange to control the movement of the tool. The tensile members may be one continuous non-accumulating member or separate members which respectively allow the robot to move in two or three degrees of freedom, by varying the length of each member.

Abstract: An automotive truck for moving a robot along a surface comprises a chassis and at least one platform hingedly connected to the chassis at one end of the platform. A drive wheel is rotatably mounted to the platform. A spring is connected at an opposite end of the platform pressing the drive wheel against the surface.

Abstract: A flexible appendage for use as a robot arm, controllable medical instrument, or simply a toy, has flexibly coupled segments defining an open lumen, and flanges protruding laterally of the axis. The flanges have passages for control lines spaced laterally from the axis. Each control line is fixed to a segment and can be pulled through the other segments from the proximal end. The control lines shorten a lateral side of the appendage to controllably bend it. Resilient couplings between the segments, leave open the lumen for passage of conduits or tools. The couplings can be helical springs wound with turns which abut at rest, such that the couplings elongate on the outside of a bend but do not compress on the inside, thereby maintaining the overall length of the appendage. The control lines are distributed around the axis, and can be arranged in ranks for controlling groups of the segments at different distances from the proximal end.

Abstract: An apparatus (10) for the location and removal of foreign objects from a difficult to access geometry utilizes a flexible lance (12) formed of individual hose bar segments (14) strung on cables (16) to give a structure that is flexible along its length and fairly rigid in a direction transverse to its length. Extending from working channels (18) of nozzle block (20) of the lance (12) are a pair of multi-prong retrievers (22). A miniaturized Videoprobe camera (24) is provided in the nozzle block (20) between the two retrievers (22). The retrievers are each connected to an actuating cable (26), which extends through the flexible lance (12) to a manual control (28). The camera (24) is connected by a cable (30) to suitable video processing circuits for generation of images on a video display (32). The cable (30) also houses a fiber optic bundle which conveys light to the area being serviced by the lance (12).

Abstract: An industrial robot is provided with a body, a horizontal arm pivotally supported on the body, and a vertical arm mounted on the tip end portion of the horizontal arm for rotation about its own center axis. The robot includes a drive motor for rotatively driving the vertical arm, speed reduction means for speed-reducing and transmitting the drive force of the drive motor through a first output pulley to a second output pulley, and first and second detected portions mounted on the first and second output pulleys, respectively, with respective predetermined ranges of extension and indicating the original point position of the vertical arm by the difference between the respective phases.

Abstract: In an arm-driving device for an industrial robot wherein one end of a first arm (2) is secured to a first pivot axis (21) pivotally supported by a base (1); one end of a second arm (3) is secured to a second pivot axis (31) pivotally supported by the other end of the first arm (2); and parallel linked pivot axes (44) pivotally provided in a concentric relationship with the first pivot axis (21) are connected to a second pivot axis (31) by parallel links (4) and (5); wherein driven bars (41) and (51) of the two parallel links are secured to both ends of said second pivot axis (31) with said first arm (2) sandwiched therebetween; and two connecting bars (42) and (52) connecting driving bars (43) and (53) secured to said parallel link pivot axes (44) and (45) to driven bars (41) and (51), are offset outside said driving bars ( 43) and (53) and driven bars (41) and (51), respectively.

Abstract: An orthogonal two-axis moving apparatus is provided with a first guide member extending along a vertical direction, a second guide member mounted on the first guide member for movement along the vertical direction and extending along a horizontal direction, and a slide block mounted on the second guide member for movement along the horizontal direction. A timing belt having its opposite ends fixed to the slide block is passed over first and second drive rollers rotatably mounted on the opposite ends of the first guide member and rotatively driven by first and second motors, four idle rollers rotatably supported on one end of the second guide member and two idle rollers rotatably supported on the other end of the second guide member, and a driven roller rotatably supported on the slide block.

Abstract: An article transfer and storage system provided with a stationary stocker capable of storing a plural number of articles and a stock handler located movably on the front side of the stationary stocker. The travel drive mechanism for the stock handler is received in a lower portion of the stationary stocker. The stock handler includes an arm mechanism having a drive arm and a follower arm flexibly connected to each other by an intermediate shaft, and an article holder provided at an end of the follower arm. An operating mechanism translates rotation of a drive shaft into horizontal movement of the article holder. Each one of the arms has a hollow box-like shape to accommodate the operating mechanism.

Abstract: A robotic knee for mounting on an upper leg stump of an allows movement from a standing position to a normal walking position and then to a kneeling position and return to a standing position. A mounting plate receives the upper leg stump of an amputee. The knee includes a housing having a drive motor which can be rotated in one direction to bend the knee and then reversed to straighten the knee. The drive motor turns a worm gear which engages a main drive gear. A pair of extension pulleys is mounted on a main drive gear shaft attached to the main drive gear. A pair of extension cables is attached at a first end to the extension pulleys and wrapped thereon. A second end of the extension cables is attached to a front portion of a mounting plate. A pair of flexion pulleys is also attached to the main drive gear. A pair of flexion cables is attached at a first end to the flexion pulleys and wrapped thereon. A second end of the flexion cables is attached to a rear portion of the mounting plate.

Abstract: An articulated robot arm or the like comprising a base, an upper arm which is pivotally secured to the base at a shoulder joint, a lower arm pivotally secured to the upper arm at an elbow joint, and optionally a "hand" or tool support pivotally secured to the lower arm at a wrist joint. A parallelogram linkage controls the relative position of the upper arm, lower arm, and base. The linkage has first, second, third, and fourth links joined by pivots. The first link is a crank which is pivotally connected to the base by a first pivot which is coaxial with the shoulder pivot. The second link of the parallelogram linkage is parallel to the crank link, and is fixed with respect to the lower arm. The third and fourth links join the first and second links to complete the parallelogram. At least one of the third and fourth links is fixed to the upper arm.

Abstract: An actuator for a joint comprises a bladder-shaped chamber 5 whose one end is secured to an arm 2 by a mounting 6, whilst a bundle of fibres 7 extend from the other end of the chamber member 5 to a junction 8 on another arm 3. The rear wall 9 of the chamber member 5 is formed from woven bi-directional fibres 10 whilst the outer wall is defined by an array of high tensile fibres 11, at least some of which extend from the fibre bundle 7. The fibres 7, 10 and 11 are embedded in elastic material. When a pneumatic or hydraulic fluid is pumped through an inlet 12 to the chamber member 5, the latter expands and the fibres 11 bow outwardly, thus pulling on the fibres 7 and raising the arm 3, with the respect to the arm 2, to lift a weight 13.