Abstract: A manipulator includes a first arm, a second arm, a joint assembly, and many connecting members. The first arm defines a first axle hole. The second arm defines a second axle hole and two openings adjacent to the second axle hole. The joint assembly is received in the first arm and rotatably joins the first arm and the second arm. Each of the connecting members includes a head portion and a fixing portion. The head portion is received in the first arm. The fixing portion connects the second arm and the joint assembly.

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.

Abstract: A power transmission mechanism and a robot arm using the same are described. The power transmission mechanism at least includes a first power source, a second power source, a plurality of steel ropes, a support arm component, a stopping component and a joint component. The stopping component is disposed in the support arm component and includes a first stopping unit and a second stopping unit that rotate coaxially. The first and second power sources and the joint component are disposed at two ends of the support arm component. The first and second power sources transmit power via the first stopping unit and the second stopping unit through the plurality of steel ropes to drive the joint component to perform a two-degree-of-freedom motion. The support arm component and the joint component can be applied in an upper arm and an elbow of a robot arm, thereby constituting a multi-degree-of-freedom robot arm.

Abstract: A robot includes a base unit, at least two link mechanisms arranged on the base unit, drive units capable of bending and expanding the link mechanisms, and a control unit controlling the drive units. At least one drive unit has a drive force larger than those of the other drive units, and the other drive units are passively displaced by external forces larger than their own drive forces.

Abstract: A robot arm assembly includes a first rotation shaft rotatable about a first axis, a second rotation shaft rotatable about a second axis and rotatably connected to the first rotation shaft, a pair of bevel gears coupled to the second rotation shaft for transmitting a rotary motion to the second rotation shaft, an adjusting member for adjusting the position of the first bevel gear along the second axis, and an elastic member. The pair of bevel gears includes a first bevel gear and a second bevel gear engaging with the first bevel gear. The elastic member is positioned between the distal end and the first bevel gear, and resiliently biases the first bevel gear away from the second bevel gear.

Abstract: A robot arm assembly includes a middle joint, an upper arm rotatably connected to the middle joint, a driver rotating the upper arm mounted on the middle joint, and a transmission mechanism transferring the power of the driver to the upper arm. The driver includes an output shaft. The transmission mechanism includes a first gear coupled to the output shaft of the driver, a second gear mounted on the outer circumference of the arm, a third gear meshed with the first gear, and a fourth gear coinciding with the third gear and meshed with the second gear.

Abstract: A rotary actuator mechanism for applying torque to a shaft and comprising an actuator housing forming an actuator path that includes an actuator pinion rotatably supported in said housing and having said shaft secured thereto. The pinion having peripheral notches of a selected shape and positioned within the actuator path. The mechanism having a train of discrete actuator elements having opposite ends and positioned in the actuator path, each of the actuator elements being of said selected shape to enable reception in the peripheral notches, a plurality of the elements engaging the notches. The mechanism having at least one linear actuator supported by the housing and engaging one of the ends of the train of actuator elements, the linear actuator being selectively activated to push the train of discrete actuator elements through the actuator path to thereby serially engage the actuator elements with the notches of the pinion and thereby apply torque to the shaft.

Abstract: A parallel link robot (10) provided with a base (11), a moving part (12), three links (20a to 20c) coupling the base and the moving part and having respectively single degrees of freedom with respect to the base, and three actuators (13a to 13c) respectively driving the links, each of the links comprised of a drive link (21a to 21c) coupled with the base and two driven links (22a to 22c, 23a to 23c) coupling the drive link and the moving part and parallel to each other, and further provided with a posture changing mechanism (15) which changes a posture of an element (19) attached to the moving part, an additional actuator (13d to 13f) arranged between the two driven links of at least one link in parallel to these driven links, and a power transmission shaft (39) which extends coaxially from the additional actuator and transmits rotational drive force to the posture changing mechanism.

Abstract: A support arm for a clamping and/or centering element of a gripper frame for holding three-dimensional components includes an adjustment mechanism, such as a ball that can pivot or a cylindrical pin that slide and rotate, held in a clamping and release unit with clamping jaws that can be radially clamped and are configured as shells engaging on opposing halves of the ball or the cylindrical pin and whose separation distance can be set by a means of adjustment. A radially directed compression force can be applied to the clamping jaws by a ring-shaped hydraulic force generator that is arranged about the jaws.

Abstract: An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.

Abstract: The piston dispenser for the measured supplying of material to the atomizer of a painting robot is arranged in the hand joint of the robot. Various feasible embodiments of the dispensing cylinder of this piston dispenser are described.

Abstract: A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.

Abstract: A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle.

Abstract: The present invention is an assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.

Abstract: A traction drive system for an articulated robotic arm. The traction drive system can include an input drive disk, a spider, an array of traction balls, a traction plate, an output drive shaft, a clamping device to load the traction balls, and an absolute rotation position sensor system. The rotation of the output drive shaft can be coupled to the rotation of the input drive disk while the traction balls are frictionally engaged to the drive disk surface and traction plate surface. The rotational connection can be decoupled when the traction balls are not frictionally engaged to the drive disk surface and traction plate surface. A rotational position sensor located in proximity to the traction drive can provide absolute rotational position feedback of the output drive shaft.

Abstract: Disclosed is a method and system for compensating for the load a part places on a part positioner system that positions the part for work operations by a robot. The part positioner system rotates a part holding assembly about the axis of rotation of a shoulder drive. The part holding assembly may have a column that extends perpendicular to the shoulder center line. A counter weight system is incorporated into the column that includes a counter weight pack that is moved along the length of the column. The shoulder drive drives the part and part holding assembly load in order to measure a torque applied to the shoulder drive. A load offset may be calculated based on the applied torque. The counter weight pack may then be moved to a position on the column calculated to balance the load of the part and part holding assembly.

Abstract: A manipulator for remotely controlled underwater operation in a nuclear radiation environment to perform service activities at difficult to access regions of the reactor vessel is disclosed. The manipulator includes six degrees of freedom in its ability to move so that it can get past obstructions inside a reactor vessel to access and service remote locations in the vessel. The manipulator also includes a rotary drive for inserting and removing the manipulator into and from a reactor vessel and for rotating the manipulator within the vessel. It also includes an arm with two rotary joints and three pivot joints that can be deployed for better access to difficult to reach locations. The manipulator, which is remotely operated, can be used to manipulate a variety of tools to perform various service activities. The tools, which are attached to the end of the arm, include a water jet, a gripper, a cutter and a camera.

Abstract: A command signal generated by a command generation part is commonly used among a plurality of comparator circuits. On the other hand, a threshold at each comparator circuit is configured to be able to be set individually in accordance with external setting, and thus a drive start timing of each element constituting an actuator array can be set flexibly.

Abstract: A wiring unit is provided for robots having a rotary joint. This unit includes a wiring case, a slide aid contained in the wiring case, and a flexile printed wiring board for electric wiring. The wiring case includes a cylindrical housing and a reel with a cylindrical core member. The reel is relatively rotatable to the housing. The reel and housing are linked with robot's two members requiring the rotary joint. In the slide aid, an annular rotary plate surrounds the core member and is rotatable about the core member. Plural rollers are provided on the rotary plate and self-rotatable. The wiring board has electrical wires and is connected to the core member and housing and is wound and unwound in radially inside and outside spaces of the rollers via the vacant space by moving on and along the rollers.

Abstract: A transmission includes a first component, a second component, and first and second transmission elements. The first component has a drive member and a portion configured to be actuated to inhibit movement of the drive member. The first and second transmission elements are each coupled to the drive member and the second component and configured to cause movement of at least one of the first component and the second component in response to movement of the drive member. At least one of the first and second transmission elements includes a first plurality of transmission sub-elements.

Abstract: An adapter device (26) for use in automated handling equipment (10) includes an adapter support (30) that is adapted for automated movement. One or more support members (32) are rigidly securable to the adapter support (30) in a plurality of different positions relative to the adapter support (30) to provide a variety of adapter device (26) configurations for objects of different sizes and shapes.

Abstract: A robotic hub assembly is provided which comprises a spacer configuration (101) that includes first (103) and second (105) spacers disposed in opposing relation to each other, and a device, such as a pin (111), for restricting the relative motion of the first and second spacers in a lateral direction.

Abstract: A transfer apparatus includes a stationary base, a swivel supported by the stationary base to be rotatable about a vertical axis, a guide member mounted on the swivel, a linear movement mechanism supported by the swivel or the guide member, a hand supported by the linear movement mechanism and moved by the linear movement mechanism for carrying a work along a straight and horizontal travel stroke, a drive source disposed inside the stationary base, and a transmission shaft disposed along the vertical axis to transmit drive power from the drive source to the linear movement mechanism. The swivel includes an upper section and a lower section detachably connected with each other. The upper section has a connecting member supported by the upper section to be rotatable about the vertical axis. The connecting member has a detachable engagement member for engagement with the transmission shaft from the above.

Abstract: A joint assembly is provided which includes a drive assembly and a swivel mechanism. The drive assembly features a motor operatively associated with a plurality of drive shafts for driving auxiliary elements, and a plurality of swivel shafts for pivoting the drive assembly. The swivel mechanism engages the swivel shafts and has a fixable element that may be attached to a foundation. The swivel mechanism is adapted to cooperate with the swivel shafts to pivot the drive assembly with at least two degrees of freedom relative to the foundation. The joint assembly allows for all components to remain encased in a tight, compact, and sealed package, making it ideal for space, exploratory, and commercial applications.

Abstract: A robot with a body, at least one leg on each side of the body, and a hip connecting the leg to the body. The hip is configured to abduct and adduct the leg. A linkage is configured to rotate the leg along a predetermined path.

Abstract: A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.

Abstract: An object of the present invention is to provide a three-dimensional cam mechanism, which is capable of selecting a cam guide surface shape freely to drastically improve the degree of freedom for selecting a target locus on the follower side, transmitting not only a power between orthogonal axes but also a strong and reliable power, and performing a reversible operation. The present invention is configured such that a three-dimensional cam guide surface (2 (3)) is formed in a three-dimensional cam (1), and the cam guide surface (2) is caused to guide a cam follower (6 (7)) formed at a predetermined angle at one end of a follower side link (4), so that the rotational movement of the three-dimensional cam (1) is translated into the swinging movement at the other end of the follower side link (4).

Abstract: A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and at least three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate. Counterweight is coupled to at least one of the links on the opposite side of the inboard gimbal plate from the outboard gimbal plate.

Abstract: The invention relates to a device for displacing and positioning an object in a space, having at least three actuating arms that can pivot about a transmission axis. Each arm is connected to a motor unit/transmission unit. A carrier element is provided in order to arrange at least one gripping element for gripping the object. Each actuating arm, on the free ends thereof, has a first articulated axis that is parallel to the transmission axis with first articulated parts arranged at a distance from each other, of a first ball joint. The carrier element has a second articulated axis associated with each actuating arm with first articulated parts that are arranged at a distance in relation to each other, of a second ball joint. The first articulated axis is connected to the second articulated axis by a pair of connecting bars which include terminal second articulated parts.

Abstract: A displacement member can be displaced in a direction substantially perpendicular to a moving direction of a translation member that is held on a base member so as to reciprocatingly move thereon linearly, and an elastic mechanism secured to the base member accumulates and releases elastic energy in accordance with the distance to the displacement member. Protruding members of the translation member are pressed against a transmission member by generated force provided by the energy release from the elastic mechanism; thus, a distance adjusting operation between coupling mechanisms coupling the transmission member and the displacement member is controlled by a control device so that the relative position and relative angle between the displacement member and the transmission member are changed.

Abstract: In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.

Abstract: The invention includes a base member attached to a casing. The inside of the casing can be a vacuum atmosphere. A partition wall is provided on the base member, the base member separating an air atmosphere and the vacuum atmosphere. A rotating member (a rotating portion of a driving source) is provided on the base member at a position different from the rotating member. An armature, which is a dust source, is provided on the air atmosphere side of the partition wall, thereby maintaining high cleanliness on the vacuum atmosphere side. Providing the partition wall and the rotating member at different positions eliminates the necessity of consideration on the rigidity of the partition wall for supporting the rotating member, thereby reducing the thickness of the partition wall.

Abstract: A cutting device 15 that, after a sheet S is stuck on a wafer W on a sticking table 13, cuts the sheet S along the outer edge of the wafer. The cutting device 15 comprises a robot body 62 disposed beside the sticking table 13 and a cutter blade 63 supported by a tool holding chuck 69 positioned at the front end of the robot body 62. The cutter blade 63 is detachably attached to the tool holding chuck 69 so as to be replaceable and is arranged so as to cut the sheet S in a state that the posture thereof is adjusted along a preset movement track.

Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.

Abstract: An end effecter is positioned with high precision by stabilizing its attitude. Included are arms each having a pair of rods arranged in parallel, a bracket having the end effecter attached thereto and retained by the pair of rods, ball joints and each including a first joint element having a ball and displaceably connecting the bracket with the arm and a second joint element having a socket for retaining the ball, a connecting member for connecting the pair of parallel rods together and restricting rotation of the rods about an axis that is parallel to the longitudinal direction thereof, and a biasing member for providing a biasing force for retaining the ball in the socket.

Abstract: A controlled relative motion system permitting a controlled motion member, joined to a base member, to selectively move with respect to the base member, has a base support, an output structure, and a fork arc structure having a pair of arc output ends with the output structure rotatably connected to a corresponding one of the pair of arc arms adjacent the arc output end thereof so as to be rotatable about an output structure rotation axis. A fork arc structure rotary support has each remaining base end of the pair of arc arms joined thereto and is rotatably connected to the base support so that said fork arc structure is rotatable about a fork axis intersecting the base plane at a selected suspension angle. An output structure force imparting means is connected between the output structure and an operating one of the pair of arc arms. A fork arc structure force imparting means is connected between the base support and the fork arc structure.

Abstract: The safety in robotic operations is enhanced and the floor space in a factory or the like is effectively utilized. A virtual safety barrier 50 including the trajectory of movement of a work or tool 7 mounted on a wrist 5 of a robot 1 in operation is defined in a memory. At least two three-dimensional spatial regions S (S1 to S3) including a part of the robot including the work or tool are defined. Predicted positions of the defined three-dimensional spatial regions obtained by trajectory calculations are matched with the virtual safety barrier 50, and if the predicted position of any one of the defined three-dimensional spatial regions based on trajectory calculations is included in the virtual safety barrier 50, a control is effected to stop the movement of the robot arms 3 and 4.

Abstract: A geometric end effector system for use on a robot. The system includes a platform and a frame secured to the platform. At least one base is arranged at a predetermined position on the frame. The system also has an anchor mount secured to the base and a component connected to an end of the anchor mount by a collar assembly. A key is arranged between the component and the anchor mount.

Abstract: A transport apparatus which can properly transmit a rotary driving force of a rotating motor to a transport arm and can correctly detect an angle of rotation of a rotary driving shaft, thereby transporting an object to be transported in a transport unit to a correct position. The transport apparatus includes: a housing having an airtight structure; first to third driving shafts that are provided in the housing to be independently rotatable around a predetermined coaxial rotary shaft; permanent magnets arranged at predetermined positions of the first to third driving shafts, respectively; and electromagnetic coils provided in the housing to correspond to the respective permanent magnets. Driving currents are supplied to the electromagnetic coils based on predetermined information, so as to move the first to third driving shafts. The object to be transported is transported by first and second linkages fixed to the first to third driving shafts.

Abstract: An industrial robot for moving an object in space comprising a stationary platform, a movable platform arranged for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and being rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and being rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and being rotatable around a third axis, and a third linkage. The first and third axes are arranged in parallel and the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.

Abstract: A multi-degree-of-freedom motion mechanism comprises a first linkage unit, a second linkage unit, a driven unit, a connection block and a third linkage unit; the first linkage unit and the second linkage unit are respectively disposed with a first curved projecting section and a second curved projecting section; a driven rod of the driven unit is respectively movably coupled to the first curved projecting section and the second curved projecting section; the connection block is respectively pivotally coupled to a first pivot element of the driven unit and a second pivot element of a third linkage unit. Whereby, the driven unit can then be nimbly controlled to move up and down as well as left and right and rotate relatively to a geometric center point of the connection block through few drive mechanisms.

Abstract: A stabilized UAV recovery system is disclosed. In the illustrative embodiment for UAV recovery over water, the system includes ship-based elements and UAV-based elements. The ship-based elements include a robot arm that holds a capture mechanism over the side of the ship while compensating for wave-induced ship motion. The UAV-based elements include a hook mounted to the top of the UAV fuselage. With the capture mechanism held stable from the perspective of a UAV approaching from behind or in front of the mechanism, the UAV is flown under it, snagging an arresting line with the hook. With continued forward motion of the UAV, the arresting line pulls out of a winch drum that is coupled to a brake, bringing the UAV to rest.

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

Abstract: A geometric end effector system for use on a robot. The system includes a platform and a frame secured to the platform. At least one base is arranged at a predetermined position on the frame. The system also has an anchor mount secured to the base and a component connected to an end of the anchor mount by a collar assembly. A key is arranged between the component and the anchor mount.

Abstract: The invention provides a waterproof and dustproof structure of a joint portion of an industrial robot which is inexpensive and does not adversely affect a motion performance of a robot. Accordingly, in a manipulator type robot which has a cable passing hole provided in a part of an outer periphery of a manipulator, and is provided with a cable wired to an inner side and an outer side of the manipulator through the cable passing hole, a mold guide surrounding an outer periphery of one or a plurality of conducting wire passing through an inner portion is provided near the cable passing hole, an inner side of the mold guide is mold treated by a resin filling, and a sealing material is provided in an outer side of the mold guide.

Abstract: A vehicle framing system for framing an automotive vehicle body from a plurality of separate body components wherein the body components each include a reference surface. The system includes an assembly station having spaced-apart frame members positioned so that, when a vehicle carrier supporting the vehicle body components is positioned at the assembly station, the frame members extend along opposite sides of the vehicle carrier. At least two docking stations are secured to each frame member at predetermined locations. A robot mounts its associated tool arm with a docking station. At least one set of reference block and framing clamp is secured to each tool arm and these framing clamps maintain the reference surfaces of the vehicle body components against the reference blocks to hold the vehicle components at a predetermined position relative to each other.

Abstract: A robot joint structure ? is composed of a metacarpal member 30 and a proximal member 40 swingably connected through a hinge 31 to a side end portion of the metacarpal member 30. The proximal member 40 includes a linear guide device 44 for an MP joint having a moving member movable in association with a self swing motion thereof, and by connecting a rod 32a and the moving member through a link mechanism 50, a driving force of an air-cylinder 32 is transmitted to the proximal member 40. On the other hand, a second robot joint structure ? is also provided with linear guide devices 48, 66, 74 and link mechanisms 69, 75, to which a driving force of the air-cylinder 62 is transmitted through a drive shaft 63 in association with a rod 62a. A robot finger is constructed by the first and second robot joint structures. According to such structures, smooth joint motion can be realized, and the robot joint structure and the robot finger having improved gripping force can be provided.

Abstract: The invention relates to a joint having a male unit and a female unit. The external surface of the male unit is of complementary shape to the internal surface of the female unit. The units cooperate and have shapes allowing rotational movement in at least one degree of freedom of the male unit within the female unit. The female unit has two socket parts. According to the invention biasing means is provided for biasing each of the socket parts towards the male unit.

Abstract: A parallel-kinematical machine (1) that includes at least three setting devices (4.1, 4.2, 4.3) which can be lengthened and shortened individually, wherein each setting device (4.1, 4.2, 4.3) is connected to a positioning head (11) via a first joint (8, 9, 10), wherein each setting device (4.1, 4.2, 4.3) is connected to a base (2) via a universal joint (3.1, 3.2, 3.3), and wherein the positioning head (11) is movable within a working range in response to manoeuvring of the setting devices (4.1, 4.2, 4.3), wherein at least two reinforcing beams (5.1, 5.2, 5.2.1, 5.2.2) are connected to the positioning head (11) via a respective beam rotation bearing (100.1, 100.2), each having solely one degree of freedom, wherein each reinforcing beam (5.1, 5.2, 5.2.1, 5.2.2) adapted to slide transversely in a beam bearing (17.1, 17.2, 17.2.1, 17.2.2) in the base (2) when one or more of the setting devices (4.1, 4.2, 4.3) is lengthened or shortened, wherein each beam bearing (17.1, 17.2, 17.2.1, 17.2.

Abstract: To provide an improved cable guide for an articulated joint of a robot or the like that allows a compact design of the articulated joint while minimizing the length of the cable, a substantially circular outer peripheral wall (16) of a hollow center drum (13) fixedly attached to the first link member is formed with a hole (28) at a first angular position substantially aligning with the first link and a slot (17) formed at a second angular position and elongated circumferentially over an angle substantially corresponding to a range of angular movement of the second link member relative to the first link member in such a manner that the cable member is passed into the center drum from the hole and out of the center drum from the slot. Thereby, the cable member can pass through the interior of the articulated joint along the shortest path, and the necessary length of the cable can be minimized.