Joint Patents (Class 901/28)

Cross-Reference Art Collections

Wrist (Class 901/29)
  • Patent number: 9126332
    Abstract: A portable robotic arm comprises a base, a plurality of motorized joints, a plurality of body members and a manipulator. Each motorized joint is operative to rotate in its respective rotation plane and on its respective joint axis, which is normal to the respective rotating plane. Each body member is sequentially connected to one other body member through one of the motorized joints. A last body member is connected to the base through a last motorized joint. A manipulator is connected to a first body member through a first motorized joint. At least two consecutive rotation planes are placed at an angle from each other that is greater than 0 degrees and smaller than 90 degrees. Optionally, the manipulator comprises three fingers and a tool port centered between the three fingers. A tool connected in the manipulator's tool port may be gripped with the three fingers. The robotic arm and a wheelchair support for the robotic arm may also be provided as a kit.
    Type: Grant
    Filed: October 6, 2009
    Date of Patent: September 8, 2015
    Assignee: KINOVA
    Inventors: Louis Jospeh Caron L'Ecuyer, Charles Deguire
  • Publication number: 20150148954
    Abstract: A robot apparatus includes a manipulator including a hand and an arm, a teaching apparatus that teaches operation of the manipulator, and a control apparatus that controls the manipulator that operates in a regular operation status or an erroneous manipulation avoiding status based on a control signal from the teaching apparatus. After determining whether a status of the manipulator is the regular operation status or the erroneous manipulation avoiding status, the control apparatus transmits a control signal for performing operation at a set regular speed to the manipulator in a case of the regular operation status, and the control apparatus transmits a control signal for performing operation at a speed lower than or equal to a safety speed that is set based on the regular speed to the manipulator in a case of the erroneous manipulation avoiding status.
    Type: Application
    Filed: October 22, 2014
    Publication date: May 28, 2015
    Inventor: Masatoshi Sasaki
  • Publication number: 20150148956
    Abstract: An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evaluation value Ebest, the best evaluation value Ebest is updated by the evaluation value Ek and is stored. A commanded trajectory uk in this situation is employed as a best commanded trajectory ubest and stored. In a case where the calculated evaluation value Ek is worse than the best evaluation value Ebest, a compensator that calculates a correction of the trajectory ?uk+1 is changed to another compensator and the correction of the trajectory ?uk+1 is calculated. A commanded trajectory in the next-time operation uk+1 is calculated from the correction of the trajectory ?uk+1 and the best commanded trajectory ubest.
    Type: Application
    Filed: November 21, 2014
    Publication date: May 28, 2015
    Inventor: Mahito Negishi
  • Patent number: 9039685
    Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
    Type: Grant
    Filed: March 16, 2011
    Date of Patent: May 26, 2015
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, David C. Shafer
  • Publication number: 20150142130
    Abstract: Methods for the control of an exoskeleton comprising at least one powered joint associated with lower limbs of a user and control systems therefrom are provided. A method includes estimating a configuration of a body of the user associated with the exoskeleton with respect to a gravity vector and computing a first control torque for the at least one powered joint that at least partially compensates gravitational dynamics of the user based on the configuration. The method further includes calculating a gravitational energy gradient for the at least one powered joint, attenuating the first control torque based at least on the gravitational energy gradient to yield a second control torque, and applying a final control torque at the at least one powered joint, the final control torque based, at least in part, on the second control torque.
    Type: Application
    Filed: June 17, 2013
    Publication date: May 21, 2015
    Applicant: VANDERBILT UNIVERSITY
    Inventors: Michael Goldfarb, Spencer Murray
  • Publication number: 20150128750
    Abstract: A linkage mechanism includes a first joint, a second joint, a first linkage and a second linkage. The two ends of the first linkage are respectively connected to the first joint and the second joint and the two ends of the second linkage are respectively connected to the first joint and the second joint, wherein when the linkage mechanism is subjected to an external force, the vibration phase of the first linkage is different from the vibration phase of the second linkage by ?. In addition, a robot working platform and a design method for robot working platform are disclosed as well.
    Type: Application
    Filed: December 17, 2013
    Publication date: May 14, 2015
    Applicant: Industrial Technology Research Institute
    Inventors: Po-Yi Li, Tsung-Liang Wu, Cheng-Chen Yang, Jwu-Sheng Hu
  • Publication number: 20150122559
    Abstract: Provided is a lower limb structure for a legged robot with which a load on an actuator for driving a knee joint can be reduced. The lower limb structure for the legged robot comprises: a hip joint main body; a thigh portion; a hip joint coupling for connecting the thigh portion to the hip joint main body; and a knee joint main body joined to the thigh portion. The lower limb structure for the legged robot provides a thigh portion auxiliary link having one end portion joined to the hip joint main body or the hip joint coupling to be rotatable about a pitch axis and the other end portion joined to the knee joint main body to be rotatable about the pitch axis. A knee joint actuator increases and decreases a length from the one end portion to the other end portion of the thigh portion auxiliary link.
    Type: Application
    Filed: April 11, 2013
    Publication date: May 7, 2015
    Applicant: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Publication number: 20150127153
    Abstract: A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying j?i) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.
    Type: Application
    Filed: November 4, 2014
    Publication date: May 7, 2015
    Inventors: Yukihiro YAMAGUCHI, Taro ISHIGE
  • Patent number: 9021916
    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.
    Type: Grant
    Filed: November 11, 2013
    Date of Patent: May 5, 2015
    Assignees: Shenzhen Futaihong Precision Industry Co., Ltd., FIH (Hong Kong) Limited
    Inventors: Jie Gao, Jian-Ping Jin, Bing Yu
  • Patent number: 9021915
    Abstract: A gear transmission mechanism includes a housing, a first transmission assembly, a second transmission assembly, and a gear clearance adjustment assembly. The first transmission assembly includes an input shaft, and the second transmission assembly includes an output shaft. The gear clearance adjustment assembly includes an adjustment base mounted on the housing, fasteners, bearings, a washer, a fixing member, and a pair of freely rotatable adjusting gears for the transmission of rotative force. The adjusting gears mesh with the first and second transmission gears.
    Type: Grant
    Filed: March 21, 2013
    Date of Patent: May 5, 2015
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Publication number: 20150114162
    Abstract: A robot includes a joint as a first member, a link as a second member rotating around a third primary rotational axis in a bending and stretching manner with respect to the joint, a wiring board installed in the joint so that the first surface faces in a direction roughly perpendicular to the third primary rotational axis, and having a connector as a connection section to be connected to one end of an FPC as a flat cable disposed on the first surface, and a reel provided to the link, and formed by winding the other end side of the FPC around a rotational axis roughly parallel to the third primary rotational axis, and the FPC is connected to the first surface roughly perpendicularly to the first surface.
    Type: Application
    Filed: October 27, 2014
    Publication date: April 30, 2015
    Inventors: Daisuke KIRIHARA, Daisuke SATO
  • Publication number: 20150120053
    Abstract: A robot control device controls the operation of a robot including a base; a robot arm that has at least three links, at least three joint portions, and at least three drive sources; an inertia sensor; and at least three angle sensors. The robot control device includes a first coordinate system vibration calculation unit; a second coordinate system vibration calculation unit; a weighting unit; a third coordinate system vibration calculation unit; a correction value calculation unit that obtains correction values for correcting the respective drive commands of the drive sources based on vibration information in a third coordinate system, and the respective detected results of the angle sensors; and a drive source control unit that controls the operations of the drive sources based on the respective drive commands of the drive sources, the correction values, and the respective detected results of the angle sensors.
    Type: Application
    Filed: October 30, 2014
    Publication date: April 30, 2015
    Inventor: Masaki MOTOYOSHI
  • Publication number: 20150114163
    Abstract: A controlled relative motion system includes a base support and a manipulable support. A plurality of lower link members are pivotally coupled to the base support, and each includes a spherical section capture opening. A plurality of upper link members are rotatably coupled to the lower link members via spherical joints at the spherical section capture openings. The manipulable support is pivotally coupled to the plurality of upper link members.
    Type: Application
    Filed: November 8, 2012
    Publication date: April 30, 2015
    Inventor: Mark E. Rosheim
  • Publication number: 20150114165
    Abstract: The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.
    Type: Application
    Filed: October 25, 2013
    Publication date: April 30, 2015
    Applicants: Universite Laval, GM Global Technology Operations LLC
    Inventors: Nicolas Lauzier, Clement Gosselin, Dalong Gao, Martin Grenier, Robin Stevenson
  • Publication number: 20150112482
    Abstract: A teaching system includes an image generating unit, a projecting unit, a work line generating unit, an arithmetic unit, and a job generating unit. The image generating unit generates a virtual image including a robot and a workpiece having a processed surface to be processed by the robot. The projecting unit generates a projection plane orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and projects the processed surface onto the projection plane. The work line generating unit generates a work line for the robot based on setting contents received via the projection plane. The arithmetic unit calculates a teaching value including the position and the posture of the robot at each point of the target points. The job generating unit generates a job program for operating the robot in an actual configuration based on the teaching value.
    Type: Application
    Filed: September 12, 2014
    Publication date: April 23, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Koichi KUWAHARA
  • Patent number: 9011415
    Abstract: A pivot port that can provide a pivot point for a surgical instrument. The pivot port may be held in a stationary position by a support arm assembly that is attached to a table. The pivot port may include either an adapter or a ball joint that can support the surgical instrument. The pivot port allows the instrument to pivot relative to a patient.
    Type: Grant
    Filed: December 31, 2013
    Date of Patent: April 21, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Dan Sanchez, Michael Black, Scott Hammond
  • Publication number: 20150088309
    Abstract: A method for operating a multi-limb manipulator which includes electric actuators assigned to manipulator limbs, control units assigned to the actuators, including: the provision of desired movement values for the actuator to an actuator dynamic model and the determination of an electric desired current value for the actuator, the transfer of the desired current value to a controller designed for outputting an actuator current to the actuator with the inclusion of the desired current value and of a measured actual current value and a measured actual position of the actuator, wherein a difference between the desired current value and the actual current value is determined as a required positional deviation, and wherein the positional deviation is added to the desired distance fed into the actuator dynamic model to facilitate a diversion movement of the manipulator limb operated by the actuator on the occurrence of an external disturbing force.
    Type: Application
    Filed: September 24, 2014
    Publication date: March 26, 2015
    Inventors: Matthias Doll, Armin Hartmann, Rudiger Neumann
  • Publication number: 20150076213
    Abstract: A robot according to an embodiment includes a flange, a wrist arm, a forearm, and a feeder. The flange configured so that a welding torch is attached thereto and configured to rotate about a T axis. The wrist arm configured to rotate about a B axis substantially perpendicular to the T axis and configured to support the flange. The forearm configured to support the wrist arm. The feeder attached to a position between a base end and a tip end of the forearm and configured to feed a welding wire.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 19, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi TERADA, Kazuhiro YASUTOMI
  • Patent number: 8978506
    Abstract: A manipulator robot for industrial production lines including a support structure and two robot arms mounted to the support structure at declining and diverging angles from one another. In one example, each robot arm includes six robot body portions connected in series and rotatable relative to one another. The improved robot design provides significant advantages in the flexibility, movement and modality of the robot for exemplary use in industrial production lines.
    Type: Grant
    Filed: February 8, 2012
    Date of Patent: March 17, 2015
    Assignee: Comau S.p.A.
    Inventors: Igor Tealdi, Enrico Mauletti
  • Publication number: 20150073592
    Abstract: A setting unit 33 configured to set a first landing permissible region in order to ground a free leg side foot 16 within an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robot 1 in a traveling direction, and a setting unit 34 configured to set a second landing permissible region in order to ground the free leg side foot 16 on an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robot 1 according to a step height.
    Type: Application
    Filed: September 2, 2014
    Publication date: March 12, 2015
    Inventors: Hiroyuki KANEKO, Chihiro KUROSU
  • Publication number: 20150068347
    Abstract: A robot arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover.
    Type: Application
    Filed: September 9, 2014
    Publication date: March 12, 2015
    Inventors: Daisuke KIRIHARA, Kazuto YOSHIMURA
  • Publication number: 20150068349
    Abstract: A joint driving device includes: a reduction gear output shaft that transmits a torque to a second link; a transmission shaft that transmits reaction of the torque to a first link; a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft; a reduction gear output shaft outer cylinder arranged in the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and a wire body arranged between the first link and the second link and including at least one of a wire and a pipe. The transmission shaft includes the motor frame as at least a part. The wire body is housed in a space between the transmission shaft outer cylinder and the transmission shaft, and a space between the reduction gear output shaft outer cylinder and the reduction gear output shaft.
    Type: Application
    Filed: September 9, 2014
    Publication date: March 12, 2015
    Inventor: Tomokazu HIRABAYASHI
  • Publication number: 20150073435
    Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 12, 2015
    Inventors: Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin
  • Publication number: 20150068350
    Abstract: In a robot arm, a plurality of arm sections including a first arm section and a second arm section are turnably connected. Each of the arm sections includes a plurality of links and an actuator section that turns the plurality of links with respect to each other. In the first arm section, a small body section with reduced length of a body circumference is provided on an outer circumferential surface between the plurality of links in a center axis direction.
    Type: Application
    Filed: September 9, 2014
    Publication date: March 12, 2015
    Inventors: Daisuke KIRIHARA, Kazuto YOSHIMURA
  • Patent number: 8977378
    Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: March 10, 2015
    Assignee: Northeastern University
    Inventors: Brian Weinberg, Constantinos Mavroidis
  • Patent number: 8972057
    Abstract: A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm. The method includes entering a plurality of process points into a computer, each process point being a location wherein the arm is to be positioned to perform a task, calculating one or more inverse kinematic solutions for each process point, clustering the inverse kinematic solutions into a set of clusters, and generating collision free paths between the clusters in the confined configuration space.
    Type: Grant
    Filed: January 9, 2013
    Date of Patent: March 3, 2015
    Assignee: The Boeing Company
    Inventors: Philip L. Freeman, Howie Choset, Matthew Tesch, Glenn Wagner
  • Patent number: 8961537
    Abstract: A surgical robot with seven degrees of freedom, including various types of joints, offers a hybrid active-passive control for operation both manually and by programmed navigation. One of the degrees of freedom allows the robot to be moved efficiently around the axis of a patient's body to provide ample workspace for surgical procedures in an operating room.
    Type: Grant
    Filed: August 24, 2011
    Date of Patent: February 24, 2015
    Assignees: The Chinese University of Hong Kong, Beihang University
    Inventors: Kwok-sui Leung, Shao-Long Kuang, Yu Wang, Chun-sing Chui, Wing-Hoi Cheung, Pak-Leung Tsang, Wai-kin Ng
  • Patent number: 8964351
    Abstract: A robotic arm includes: an arm having one or more joints; an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; and a control unit configured to turn on and off the electrostatic adhesion of the arm securing unit.
    Type: Grant
    Filed: August 13, 2013
    Date of Patent: February 24, 2015
    Assignee: Panasonic Intellectual Property Management Co., Ltd.
    Inventor: Takashi Horinouchi
  • Publication number: 20150047452
    Abstract: A robotic link mechanism comprising a pair of base elements connected by a passive flexible joint, such that flexure of the joint changes the mutual orientation of the base elements. A pair of obliquely truncated cylinders are confined between the base elements such that the obliquely formed end surfaces of the cylinders can rotate in sliding contact with each other, and the other end of each cylinder can rotate in sliding contact with its associated base element. Driving motors are attached to the base elements, each one controlled to rotate the cylinder associated with that base element, such that rotation of at least one of the cylinders causes the base elements to undergo change in their mutual orientation. The mechanism thus has a backbone composed of the passive flexible joint, which is supported and actuated by the oblique truncated cylindrical structure that serves as an active exoskeleton.
    Type: Application
    Filed: November 29, 2012
    Publication date: February 19, 2015
    Inventors: Alon Wolf, Oded Salomon
  • Publication number: 20150045954
    Abstract: A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 that drive-controls the multi-articulated robot 2 based on an input motion command. The controller 3 includes: a joint angle computing unit 32 that computes each joint angle command for driving the multi-articulated robot 2 based on the motion command; a servo controlling apparatus 30 that moves the multi-articulated robot 2 by rotationally driving each rotational joint based on the joint angle command computed by the joint angle computing unit 32; a singular point calculating unit 51 that calculates a distance between the multi-articulated robot 2 and a singular point of the multi-articulated robot 2; and a maximum joint angle deviation adjusting unit 52 that limits a maximum rotation speed of a rotational joint specified in advance based on a singular point type, if the singular point distance becomes smaller than a predetermined value.
    Type: Application
    Filed: July 18, 2014
    Publication date: February 12, 2015
    Inventor: Mahito Negishi
  • Patent number: 8950065
    Abstract: A combination component handling and connecting device connectable to a multi-axis robot for use in moving and connecting components and subassemblies includes a housing and an actuator fixedly connected to the housing. The actuator includes an actuating link movable from a first position to a second position. Connected to the actuating link is an end effector for concurrent movement with the actuating link. The component handling and connecting device includes a clamp having a first jaw and a second jaw. The second jaw is connected to the actuating link for selectively moving the second jaw toward the first jaw operative to engage a component.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: February 10, 2015
    Assignee: Comau, Inc.
    Inventor: Velibor Kilibarda
  • Patent number: 8951129
    Abstract: A device for regulating stiffness has a rotary shaft coupled to the driven member to rotate the driven member, a rotational connection body coupled to the rotary shaft to freely rotate thereon and rotating by a driving power of the driving motor, and an elastic connection body fixed to the rotary shaft and extending in the length direction of the rotary shaft to connect to the rotational connection body, wherein the elastic connection body gives an elastic force in a direction opposite to the rotating direction of the rotational connection body to interrupt free rotation of the rotational connection body with respect to the rotary shaft, and wherein if the rotational connection body rotates by the driving motor, the elastic force of the elastic connection body acts as spring so that the rotating force of the rotational connection body is transmitted to the rotary shaft.
    Type: Grant
    Filed: June 14, 2013
    Date of Patent: February 10, 2015
    Assignee: Korea Institute of Science and Technology
    Inventors: Jun Ho Choi, Soojun Lee
  • Patent number: 8950967
    Abstract: The present invention is related to an articulated joint usable in e.g. robotics and rehabilitation, consisting of a first and second body, rotatably connected to each other, and comprising a third body, equally rotatable around a rotation axis, wherein the third body acts as a lever arm. This lever arm is connected via a spring to a pre-tension mechanism, which may be mounted on the second body, while the rotation of the lever arm with respect to the first body is controlled by an actuator. This construction leads to a joint wherein the position can be controlled independently from the compliance of the joint, thereby yielding a mechanism with improved characteristics compared to existing designs.
    Type: Grant
    Filed: May 19, 2006
    Date of Patent: February 10, 2015
    Assignee: Vrije Universiteit Brussel
    Inventor: Ronald Van Ham
  • Publication number: 20150025684
    Abstract: Disclosed is a technique that reduces the amount of calculation necessary for time optimal control. An interpolation function calculating part 361 calculates an interpolation function that passes through a plurality of interpolated teach points for interpolation between respective teach points. Further, a differential coefficient calculating part 362 calculates each differential coefficient obtained by differentiating each vector component included each interpolated teach point by a variable number of the interpolation function. Further, an estimated value calculating part 365 calculates an estimated velocity of each joint in each interpolated teach point on the basis of each pass velocity and each differential coefficient.
    Type: Application
    Filed: February 28, 2013
    Publication date: January 22, 2015
    Inventor: Mahito Negishi
  • Patent number: 8926258
    Abstract: A substrate supporting apparatus includes a substrate support that supports a substrate. A first connecting member is connected to the substrate support and includes a first magnet. A second connecting member faces the first connecting member and is connectable to a transport robot for transporting the substrate to a substrate holder. The second connecting member includes a second magnet magnetically coupled with the first magnet. A spacer is configured to hold an interval between the first connecting member and the second connecting member. The first connecting member and the second connecting member are relatively movable in a plane direction of the substrate via the spacer.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: January 6, 2015
    Assignee: Canon Anelva Corporation
    Inventors: Koichi Yoshizuka, Satoshi Yamada
  • Publication number: 20150000454
    Abstract: A transfer apparatus includes a base, a first holder, a second holder offset from the first holder in a first direction, and a movement mechanism for moving the first holder and the second holder relative to the base in a plane parallel to the first direction. The movement mechanism includes a swing member, a first link arm and a second link arm. The swing member is pivotally supported on the base. The first link arm is pivotally connected to the first holder. The first link arm is also connected to the swing member for pivoting about a first intermediate axis extending in a second direction perpendicular to the first direction. The second link arm is pivotally connected to the second holder. The second link arm is also connected to the swing member for pivoting about a second intermediate axis extending in the second direction. The first intermediate axis is offset from the second intermediate axis in the first direction.
    Type: Application
    Filed: June 18, 2014
    Publication date: January 1, 2015
    Inventor: Jun IURA
  • Publication number: 20140379126
    Abstract: A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable.
    Type: Application
    Filed: June 19, 2014
    Publication date: December 25, 2014
    Inventor: Marc-Walter Ueberle
  • Patent number: 8915693
    Abstract: A robot arm for transporting semiconductor wafers includes a hand, a lower arm link, and an upper arm link. The hand is connected to the lower arm link via a first joint, and the upper arm link is connected to the lower arm link via a second joint. The lower arm link is capable of being separated at a location between the first joint and the second joint.
    Type: Grant
    Filed: May 24, 2011
    Date of Patent: December 23, 2014
    Assignee: Nabtesco Corporation
    Inventors: Mitsuru Shimamoto, Takahiro Maekawa
  • Publication number: 20140366675
    Abstract: A jointed limb comprising at least first (2) and second (4) rigid segments and a joint (6) providing rotation of the first and second segments with respect to each other about an axis of rotation (Y), said joint (6) comprising fibres, wherein each of the segments (2, 4) comprises a body (8.1, 8.2) and an end element (10.1, 10.2) provided at an end of said body, both end elements (10.1, 10.2) being held facing each other by said joint (6), said end elements (10.1, 10.2) comprising tapered profiles having vertices facing each other, each of said end elements (10.1, 10.2) being made prior to being secured it to the corresponding body (8.1, 8.2).
    Type: Application
    Filed: December 19, 2012
    Publication date: December 18, 2014
    Inventors: Florian Gosselin, Javier Martin
  • Patent number: 8910538
    Abstract: A robot according to an embodiment includes a base, a first structure, a second structure, and a third structure. The first structure is connected to the base to be rotatable about a first axis. The second structure is connected to the first structure to be rotatable about a second axis orthogonal to the first axis. The third structure is connected to the second structure to be rotatable about a third axis parallel to the second axis. The first structure and the third structure are formed by using cast materials having a same shape.
    Type: Grant
    Filed: January 27, 2012
    Date of Patent: December 16, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Yusuke Hayashi, Manabu Okahisa, Keisuke Yonehara
  • Patent number: 8904900
    Abstract: An articulated mechanical arm includes a passive device designed to compensate for the effects of gravity on at least a first pivot connection which articulates a first member of the arm on a second member of the arm, and constitutes a first degree of freedom of the arm. The passive device includes a drive mechanism and at least one magnetic device. The drive mechanism is designed to transmit to the magnetic device any rotation of the second member relative to the first pivot connection. The magnetic device is designed to produce torque further to the rotation of the second member. The drive mechanism and the magnetic device are also designed such that the torque is retransmitted by the drive mechanism to the first pivot connection, such that the retransmitted torque cancels the moment of force caused by gravity exerted on the articulated mechanical arm, relative to the first pivot connection.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: December 9, 2014
    Assignee: Trimos S.A.
    Inventors: Luca Dorigatti, Stephane Dewarrat
  • Publication number: 20140343728
    Abstract: Disclosed is an underwater exploration system using a multi-joint underwater robot having a novel complex movement concept in which the multi-joint underwater robot moves through walking or swimming with multi-joint legs closely to a seafloor, differently from a conventional underwater robot to obtain a thrust through a propeller scheme. The underwater exploration system includes the multi-joint underwater robot having the complex movement function according, a depressor, and a mother ship to store data of an underwater state transmitted from the multi-joint underwater robot and to monitor and control a movement direction of the multi-joint underwater robot. The depressor is connected to the mother ship through a primary cable, the multi-joint underwater robot is connected to the depressor through a second cable, and resistance force of the primary cable is applied to the depressor without being transmitted to the multi-joint underwater robot.
    Type: Application
    Filed: December 13, 2012
    Publication date: November 20, 2014
    Inventors: Bong-Huan Jun, Hyung-Won Shim, Jin-Yeong Park, Bang-Hyun Kim, Hyuk Baek, Pan-Mook Lee
  • Patent number: 8887595
    Abstract: An instrument wrist uses members having epicycloidal and hypocycloidal surfaces to bear loads and preserve a separation of reference points in the same manner as circles rolling on each other. The cycloidal surfaces can be uniform, stepped, or blended and can be arranged to ensure geared motion of members without addition of additional gearing structures. A hypocycloidal surface provides a concave contact that improves resistance to deformations under load. The wrist mechanism is tendon stayed, which keeps members in contact, and optionally gear structures can be integrated into the members to ensure geared motion and support roll toques.
    Type: Grant
    Filed: December 22, 2009
    Date of Patent: November 18, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Matthew R. Williams
  • Patent number: 8875594
    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.
    Type: Grant
    Filed: May 29, 2009
    Date of Patent: November 4, 2014
    Assignee: BIA
    Inventors: Samer Alfayad, Fathi Ben Ouezdou, Fay├žal Namoun
  • Patent number: 8869644
    Abstract: An articulated robot wrist includes a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis. The first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes result substantially aligned with one another.
    Type: Grant
    Filed: February 17, 2012
    Date of Patent: October 28, 2014
    Assignee: Comau S.p.A.
    Inventors: Mauro Amparore, Giorgio Pernechele, Giuseppe Paparella
  • Patent number: 8857874
    Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: October 14, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Chris A. Ihrke, Lyndon Bridgwater, Myron A. Diftler, Douglas Martin Linn, Robert J. Platt, Jr., Brian Hargrave, Scott R. Askew, Michael C. Valvo
  • Publication number: 20140290416
    Abstract: A multi-axis robot includes: a base with a hollow; a support member with a hollow, the support member constituting a proximal end portion of an arm of the multi-axis robot; and a guide pipe configured to rotate together with the support member, the guide pipe being configured such that one end of the guide pipe is rotatably inserted in the base, and inner space of the guide pipe is in communication with inner space of the support member and inner space of the base. A notch is formed in a peripheral surface of an end portion of the guide pipe, the end portion being positioned in the base. A motor cable extends to reach the notch from radially outside of the guide pipe.
    Type: Application
    Filed: October 5, 2012
    Publication date: October 2, 2014
    Inventors: Nobuhiro Demura, Ryo Taniuchi
  • Patent number: 8849455
    Abstract: A robot system according to embodiments includes a position command generating unit that corrects a position command of a motor based on a rotation angle of the motor, which drives a link of a robot via a speed reducer, and a rotation angle of an output shaft of the speed reducer.
    Type: Grant
    Filed: December 21, 2011
    Date of Patent: September 30, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Tetsuro Izumi, Tomohiro Matsuo
  • Publication number: 20140286736
    Abstract: An electronic device processing system is disclosed. The system includes a transfer chamber including facets and a plurality of single-entry process chambers coupled to the facets, wherein at least some process chambers are non-focalized process chambers, at least one load lock chamber, and a robot apparatus operable to transport substrates between the process chambers and the load lock chamber(s). Robot apparatus includes an upper arm, a forearm, and a wrist member adapted for independent rotation relative to the forearm about a wrist axis, and an end effector adapted to carry a substrate. Various degrees of yaw may be imparted to the wrist member in order to service the non-focalized process chambers. Systems and methods are also provided as are other aspects.
    Type: Application
    Filed: June 11, 2014
    Publication date: September 25, 2014
    Applicant: Applied Materials, Inc.
    Inventors: Izya Kremerman, Jeffrey C. Hudgens
  • Publication number: 20140276944
    Abstract: The various embodiments disclosed herein relate to improved robotic surgical systems, including robotic surgical devices having improved arm components and/or biometric sensors, contact detection systems for robotic surgical devices, gross positioning systems and devices for use in robotic surgical systems, and improved external controllers and consoles.
    Type: Application
    Filed: March 13, 2014
    Publication date: September 18, 2014
    Applicant: Board of Regents of the University of Nebraska
    Inventors: Shane Farritor, Thomas Frederick, Joe Bartels, Eric Markvicka, Jack Mondry