Abstract: A two-arm transfer robot includes a swivel base arranged to swivel about a vertical swivel axis, and a pair of link arm mechanisms attached to the swivel base. These two link arm mechanisms are symmetrical in structure and function with respect to the swivel axis. A first hand member is supported by one of the link arm mechanisms for carrying a work, while a second hand member is supported by the other link arm mechanism for carrying a work. The first hand member and the second hand member are horizontally movable at the same height without interfering with each other.

Abstract: A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint.

Abstract: Herein disclosed is a robot arm mechanism comprising: a first handling member for supporting and handling a first object; a second handling member for supporting and handling a second object; a first robot arm including a first arm link and a second arm link, the first end portion of the second arm link being pivotably connected to the second end portion of the first arm link, and the second end portion of the second arm link being connected to the first handling member to allow the first handling member to support the first object in a stable condition; a second robot arm including a first arm link and a second arm link, the first end portion of the second arm link being pivotably connected to the second end portion of the first arm link, the second arm link being inclined with respect to the second arm link of the first robot arm at a preset angle defined between the central line of the second arm link of the second robot arm and the central line of the second arm link of the first robot arm, and the second

Abstract: A robot with an edge detector and two operating modes. The first operating mode is a remote control mode. The second operating mode is a processor controlled mode.

Abstract: Fluid delivery device, allowing a mechanical robot arm to be supplied with fluids from at least two sources of fluids, includes a fixed portion or stator, having connections to the sources of fluids, and a rotating portion or rotor, capable of moving with the robot arm, and comprising a plurality of connections for a link with the said robot arm. A first series of channels run through a central portion of the rotor sealing at a passage between the rotor and the stator is provided by seals. A second series of channels run through a peripheral portion of the rotor. Continuity between portions of these channels situated respectively on the rotor and the stator is provided in a zone without contact, with a reduced mechanical clearance.

Abstract: A unit for constructing a robot with units, wherein a joint unit comprises joint means and is organized in a joint casing having a surface profile of a dice-like cube, or a uniaxial cylindrical body, or an orthogonal dual-axis cylinder-like cubic with a uniform joint means separation distance. The joint means comprises N positioning projections disposed about the center axis thereof at equal intervals and equal angles and N connecting screw holes respectively disposed at positions rotated from these projections by 360°/2N about the center axis thereof. Also, a zero-degree joint power transmission unit converts and transmits the rotations of the joint unit rotated, by itself, relative to an input joint fixed shaft fixed to the joint casing, to the rotations of an output rotating shaft disposed a joint unit separation distance away thereform.

Abstract: An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted 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 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 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 rotatable around a third axis, and a third linkage. The second supporting arm is freely mounted around a cross-beam that is arranged at right angles to the second axis.

Abstract: A robot assembly and a method of installing a collar on a robot assembly. The robot assembly comprises a support shaft, an arm extending away from the shaft, a split connecting collar pivotally mounted on the support shaft and connected to the arm to connect the arm to the support shaft, and a tool connected to the arm for engaging the molded items and for removing the molded items from the molding machine. Two embodiments of the split collar are disclosed. The first is a multiple piece component, and the second is a single slotted body. Generally, both of these collars are designed such that installation or removal does not require that the shaft be pushed linearly through the diameter of the collar. Rather, the installation or removal of the collar is performed by moving the collar, or the collar components, away from the shaft, in a direction perpendicular to the shaft centerline instead of along and over the shaft diameter to the endpoint.

Abstract: A manipulator for receiving and displacing an object, comprising a moving portion, adapted to receive the object. Four support legs each extend between the moving portion and a ground for supporting the moving portion. Each support leg is connected to the ground by a first joint, and with sequentially second, third, fourth and fifth joints connecting the first joints to the moving portion. The support legs are topologically equivalent to one another with respect to the joints. Each of the support legs has constraints in the joints operable to restrict movement of the moving portion to three translational degrees of freedom and one rotational degree of freedom. Actuators are each operatively connected to a different first joint for controlling the movement of the moving portion in any one of the four translational degrees of freedom. A method for controlling the movement of the moving portion is provided.

Abstract: An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit 4 is composed of a first arm 1, a rotation correction arm 2 rotationally driven around the axial line of the first arm, and a second arm 3 rotationally driven around an axial line obliquely intersecting with the rotation correction arm.

Abstract: A backlash comprises a first rotation member and a second rotation member, each of which is provided rotatably-about the same axis, and which are engageable together in a rotating direction of the members by driving contact between respective radial extension surfaces thereof,and where a backlash gap is provided between the respective radial extension surfaces of the first and the second rotation members to permit fee rotation between the first and second rotation members in a range of the backlash gap in the rotating direction of the members.

Abstract: The aim of the invention is to compensate for the position-dependent length changes caused by the effect of weight in a variety of closed kinematic chains (K1 . . . Kn), for connecting a stationary first element (E1) to a movable second element (E2). Said aim is achieved, by using a back transformation (??1), which determines a compensation value for each length change (dq1, dq2 . . . dqn), resulting from the application of the weight (Fg) impinging on the movable element (E2) in each kinematic chain.

Abstract: A changeable-length fourth axis of a delta robot has a first bar (82) and a second bar (83), which can be displaced parallel to one another in a slide bearing (84, 85). They are connected to articulation heads (80, 81) for leading in an incoming torque and for leading out an outgoing torque. The first and second bars (82, 83) are arranged here such that the incoming torque runs in a direction which is parallel to, but offset from, the direction of the outgoing torque. This fourth axis allows precise torque transmission, but is nevertheless of straightforward construction, has a high bending strength and relatively low weight and can easily be cleaned by being washed down.

Abstract: A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint.

Abstract: An orientation preserving angular swivel joint suitable for mechanical robotic arms and in particular snake robots, the joint comprising two members and an angular bevel gear train that connects the two members of the joint. The gear train allows an actuator to be positioned along the axis of the joint while transferring forces to the periphery of the mechanism, thus creating a high mechanical advantage proportional to the radius of the robot. The gear train is capable of transferring rotational motion between the two members with a constant ratio. Relative rotation between two bays of the joint does not take place, thereby preventing electrical wires running through the body of the snake from being twisted, and thus avoiding failure.

Abstract: A fluid conduit is provided for use in a hydraulic actuating system for controlling an instrumentality disposed on a rotating portion of a machine. The fluid conduit transports pressurized fluid between a fluid source disposed on a non-rotating portion of the machine and the instrumentality and comprises a rigid tubular member formed in the shape of a helix having at least about 2 revolutions and a non-constant pitch length. The ends of the tube are adapted to be sealingly connected between the fluid source and the instrumentality. The fluid conduit is used, for example, in an apparatus and system for controlling a hydraulic actuator mounted on a rotating blade.

Abstract: The invention relates to a rotation joint, especially for medical instruments, with a proximal and a distal part that are coupled to one another by means of a gear work and can be adjusted in relation to one another between a non-deflected starting position and an angled end position, where the gear work is housed in an intermediate part situated between the proximal and the distal parts and all three parts have at least one hollow center channel. In order to create a rotation joint that can be actuated by a non-angled position and can be secured in the deflected position, the invention proposes that the proximal part consists of two tubes that are arranged coaxially inside one another and can rotate in opposite directions around their longitudinal axis, where at least the outer tube is connected with a handle on its proximal side.

Abstract: The present invention concerns an industrial robot according to the delta concept with an arm system (2) intended for rotation in space that comprises a base section (4), a movable plate (6), several jointed struts (8) and a telescopic shaft (10, 40) arranged between the base section and the movable plate, in which opposite ends (12, 14) of the struts and the telescopic shaft are connected to the base section and to the movable plate, respectively, and in which the telescopic shaft (10, 40) comprises a first telescopic arm (16, 46) and a second telescopic arm (18, 48) that are arranged longitudinally displaceable relative to each other, that each telescopic arm (16, 18; 46, 48) comprises at least two rods (20, 22; 50, 52) that are attached to holders (24-27; 54-57) at their respective end sections. The present invention also includes a method and an application.

Abstract: A member for piping and wiring to an end effector of a robot is discharged from a first wrist element into a void area in a position displaced from an axis c, being bent and loosened, and then guided to a hollow path. Any variance in a length of the piping/wiring member 30 due to rotations of second and third wrist elements is absorbed in this void area, so that twining round or scratching by a wrist can be prevented.

Abstract: An articulated apparatus is disclosed that includes an actuator base and a plurality of serially coupled link members that are mutually joined to one another at a plurality of joints. Each of the serially coupled link members has an axis of rotation. The plurality of link member includes a proximal link member that is proximal to the actuator base, and a distal link member that is distal to the actuator base, and each link member includes a proximal end and a distal end. The apparatus also includes a plurality of actuators that are located at the base, and each actuator is associated with a respective link member. The apparatus further includes a plurality of tendons, each of which is coupled to an actuator and a respective link member for effecting movement of the link member with respect to the actuator base.

Abstract: A modular articulated robot structure (FIG. 4) composed of a series of independent modules (10,100,300) releasably connected to each other to form various configurations. The modules (10,100,300) may be of the rotary (10), linear (100), or wheeled (300) type. The rotary modules (10) are generally formed of first and second substantially U-shaped structural members (12,14) pivotally attached to one another by means of a pair of axles or pivot pins (26) adapted to support a workload exerted on the module (10). An actuator (48) is mounted internally of the module (10) for pivoting the second structural member (14) relative to the first structural member (12). The actuator (48) is connected to the second structural member (14) in such a way that it is not submitted to outside loads exerted on the module (10).

Abstract: A working robot is used in space for inspecting the state of a structure of a house module in space or for replacing M/D shields. A robot body is provided with four multifunctional arms (or two moving arms and two multifunctional arms), which are equipped with manipulation tools at their leading ends. The robot is moved by the manipulation tools of each of the multifunctional arms gripping a working socket or the head of a bolt of an M/D shield and by the arms extending/contracting themselves. The M/D shield is fixed and lifted by the multifunctional arms 10 by inserting the manipulation tool into a T-handle socket. The bolts are removed by the manipulation tool of the multifunctional arms.

Abstract: A controlled relative motion system having first and second support structures with a controlled output position joint connecting them, and with similar joints on these support structures. One joint is coupled to another controlled relative motion system having an output carrier rotatable in two perpendicular directions through the use of gears therein. This output carrier supports two articulated manipulating systems of which one has a single axis rotatable subbase supporting a rotatable gripping extension, and the other has a shackle connected to a base effector which shackle is supported on a fixed pedestal and another shackle connected to a base effector which shackle is supported on a moveable pedestal.

Abstract: A traveling wave generator includes at least a base link and end link and an intermediate link; a pivot device pivotably interconnecting each pair of links; a drive mechanism interconnecting each pair of links including a drive shaft and a cam on the first link of the pair and on the second link of the pair a follower for engaging the cam for inducing a traveling wave motion in the links; a flexible power transmission device interconnects the shafts of each of the base and intermediate links; and a motive source rotates the shafts.

Abstract: A parallel kinematics mechanism is provided for uses such as robotics or machining. The mechanism has various limbs, at least some of which are actuatable, for moving an end component with multiple degrees of freedom. The mechanism advantageously facilitates a closed-form solution for the forward kinematics. A joint assembly is provided for use in the parallel kinematics mechanism, the joint assembly having a plurality of revolute joints for connecting to at least three limbs, the joints having non-parallel axes, which intersect at a common point. In various embodiments of the invention, the end component has three, four, five and six degrees of freedom.

Abstract: Device for guiding a cable set arranged at a manipulator equipped with a control device where the cable set forms an external loop/a slack in the transition between a first and a second manipulator part joined by a link including a guiding device that freely surrounds the cable set characterized in that the guiding device can be opened and includes a suspension device so that it can be suspended to rotate freely in the link section between the two manipulator parts.

Abstract: A controlled relative motion system comprising a base support, a manipulable support, a group of link end constrainers each having a first portion movably connected to a second portion thereof so that ends of the first and second portions can be selectively separated from one another in a selected direction so as to have a selected distance therebetween, and two groups of pivoting links. With at least four link end constrainers in the group thereof, the first group of pivoting links has corresponding links each rotatably coupled to force imparting means or to the base support so as to be rotatable about a corresponding base link axis where each of said base link axes extend into regions between adjacent ones of said first group of pivoting links into which regions said base link axes of said adjacent ones also extend, and each coupled to a first portion end of a corresponding one of the group of link end constrainers.

Abstract: The invention relates to a rotation joint, especially for medical instruments, with a proximal (1) and a distal part (2) that are coupled to one another by means of a gear work and can be adjusted in relation to one another between a non-deflected starting position and an angled end position, where the gear work is housed in an intermediate part (3) situated between the proximal (1) and the distal (2) parts and all three parts have at least one hollow center channel. In order to create a rotation joint that can be actuated by a non-angled position and can be secured in the deflected position, the invention proposes that the proximal part (1) consists of two tubes (4, 5) that are arranged coaxially inside one another and can rotate in opposite directions around their longitudinal axis, where at least the outer tube (5) is connected with a handle on its proximal side.

Abstract: An orientation preserving angular swivel joint suitable for mechanical robotic arms and in particular snake robots, the joint comprising two members and an angular bevel gear train that connects the two members of the joint. The gear train allows an actuator to be positioned along the axis of the joint while transferring forces to the periphery of the mechanism, thus creating a high mechanical advantage proportional to the radius of the robot. The gear train is capable of transferring rotational motion between the two members with a constant ratio. Relative rotation between two bays of the joint does not take place, thereby preventing electrical wires running through the body of the snake from being twisted, and thus avoiding failure.

Abstract: A multiblock robot system with to each other compatible-and plug connectable, stationary and mobile earth, sea, aviation, planetary and space flight capable multiblock robot system standard cells, multiblock robot flange plug booster units and multiblock robots. Reconstructable with minimal expenditure of development and construction and by optional combinations between each other and with the total spectrum of all multiblock robot standard parts, objective-directed used for stationary and mobile multiblock robot individual systems and total complexes for mainland, sea, aviation, planetary and space flight fields, always exchangeable to each other, removeable, disintegrateable and re-plug connectable to the most different multiblock robot system solutions.

Abstract: This invention provides surgical tools or instruments for use in minimally invasive telesurgical applications. The instruments typically include a base whereby the instrument is removably mountable on a robotically controlled articulated arm. An elongate shaft extends from the base. A working end of the shaft is disposed at an end of the shaft remote from the base. A wrist member is pivotally mounted on the working end. At least one end effector element mounting formation is pivotally mounted on an opposed end of the wrist member. A plurality of elongate elements, e.g., cables, extend from the end effector element mounting formation and the wrist member to cause selective angular displacement of the wrist member and end effector mounting formation in response to selective pulling of the elongate elements.

Abstract: The present invention is a robotic arm with a plurality of telescoping tubes coupled rotatably to a plurality of rings through apertures in the rings. A plurality of tendons pass through the telescoping tubes. Tension is applied to the plurality of tendons to move the telescoping tubes. A controller is employed to direct the amount of tension applied whereby the robotic arm moves as directed.

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: The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened.

Abstract: A wrist mechanism of an industrial robot is described which have a first ring-shaped hollow reduction unit secured to an arm of the robot, and a first hollow drive tube and a second ring-shaped hollow reduction unit secured to an output shaft of the first reduction unit, respectively. The wrist mechanism further have a second hollow drive tube and a third ring-shaped hollow reduction unit secured to an output shaft of the second reduction unit, respectively, and a third hollow drive tube secured to an output shaft of the third hollow reduction unit rotatably around a first axis. The first, second and third hollow drive tubes are connected to first, second and third wrist elements, respectively, to rotate each of the wrist elements relative to each other, which leave a hollow space inside thereof free for passage of supply cables and pipes which are to be connected to a tool being secured to the robot wrist.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: A modular articulated robot structure (FIG. 4) composed of a series of independent modules (10,100,300) releasably connected to each other to form various configurations. The modules (10,100,300) may be of the rotary (10), linear (100), or wheeled (300) type. The rotary modules (10) are generally formed of first and second substantially U-shaped structural members (12,14) pivotally attached to one another by means of a pair of axles or pivot pins (26) adapted to support a workload exerted on the module (10). A motor (48) is mounted internally of the module (10) for pivoting the second structural member (14) relative to the first structural member (12). The motor (48) is connected to the second structural member (14) in such a way that it is not submitted to outside loads exerted on the module (10).

Abstract: A robot with multi-joint arms, wherein articulated first and second arms 9, 10 are movable in a horizontal plane as well as in a vertical direction, the second arm having a free end to which a supplementary unit A is removably connected, the supplementary unit A including a joint member 17 adjustably connected to the free end of the second arm 10 and a working member 18 removable connected to the joint member 17. The working member 18 has a predetermined length Lx which determines the effective length L2 of the second arm 10, and wherein the data representing the effective length L2 of the second arm is entered to renew the existing effective length of the second arm to produce new data representing the value of the newly entered effective length L2 of the second arm 10, the new data being employed to calculate out the value to control the operations of the first and second arms 9, 10.

Abstract: The apparatus has four links pivotally coupled together. First and second links each includes a first portion having an angular portion extending therefrom at an angle of between 120-135 degrees. The first link is pivotally coupled to the angular portion of the second link; the third link is pivotally coupled to the second link at about the juncture of its angular portion and its first portion; and the fourth link is pivotally coupled to the third link and to the first link at about the juncture of its angular portion and its first portion. The first portion of the second link is employed for holding a tool or a utility device thereto. A first linear actuator is pivotally coupled to the pivotal connection between the third and fourth links and a second linear actuator is pivotally coupled to the angular portion of the first link.

Abstract: A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.

Abstract: A first arm (3) of a articulated robot has a double arm structure composed of a first arm piece (3a) and a second arm piece (3b). The first arm piece (3a) transmits a drive force, and a housing (4a) of a second arm (4) is rotatably mounted to the first arm piece (3a) at the end thereof. The second arm piece (3b) houses cables and pipes or the like, and a cover (4b) of the housing (4a) is rotatably mounted to the second arm piece at the end thereof. The cover (4b) is fixed to the housing (4a) through a fixing tool (6). The housing (4a) is permitted to be opened by separating the housing (4a) and the cover (4b) from each other by causing the second arm piece (3b) to rotate relatively to the first arm piece (3a) after the removal of the fixing tool (6).

Abstract: An assembly for connecting a measuring tool to a measuring head moved by a measuring robot and having an output member rotating at least about one axis; the assembly having three supports located peripherally with respect to the axis and defining an isostatic constraint between the output member and a connecting portion for connecting the tool to the head; the assembly having releasable locking means interposed between the connecting portion of the tool and the output member; and the releasable locking means having engaging means located substantially along the axis, and a pneumatic actuating member cooperating with and for controlling release of the engaging means.

Abstract: A process for guiding an instrument in space, in which the instrument is arranged at the free end of an articulated arm whose arm sections are caused to pivot and/or travel with respect to each other by drive units. The instrument is caused to travel in a limited movement region under the control of a control device. For predetermination of the movement region for points that are situated in the movement region, a respective pivot angle and/or travel position between the respective arm sections is set. The respective position and attitude of the instrument is sensed by at least a first measuring device. For hand-controlled guiding of the instrument, an actuating force exerted on the instrument and/or the articulated arm is sensed by a second measuring device.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: A gimbal drive module comprising an elbow (24) formed of composite material and having two legs. On one leg, elbow (24) includes an azimuth drive module (26). On the other leg, elbow (24) includes an elevation drive module (30). Azimuth drive module (26) and elevation drive module (30) include motors which when energized enable displacement of the respective legs in order to control the azimuth and elevation of elbow (24) to enable pointing of a structure, such as an antenna (18), as may be located on a second elbow outboard end (20).

Abstract: In cases where every sampling time has elapsed, a position of the joint which will occur at a moment of end of a next sampling time is calculated on the basis of a speed pattern. Calculation is made as to a drive torque designed to move the joint to the calculated position. In cases where the calculated drive torque exceeds a predetermined limit value, a speed change ratio designed to reduce the drive torque is calculated. In addition, calculation is made as to a corrected sampling time on the basis of the calculated speed change ratio. The corrected sampling time is shorter than a normal sampling time. In cases where the calculated drive torque does not exceed the predetermined limit value, the calculated position is set as a command position and the joint is controlled to move to the command position after a predetermined unit control time elapses.

Abstract: A robot especially adapted for use in hazardous environments, and particularly adapted for explosives disposal, includes a wheeled platform carrying a winder mechanism which ensures that the remote control cable will not be fouled by the robot or its attachments. Coaxial with the winder mechanism is a turret mechanism that can rotate indefinitely and which carries thereon a manipulator arm section which, includes a first arm pivotable through about 110.degree. and which carries thereon a second arm which is pivotable through about 120.degree. and carries a bulkhead to which any of a plurality of end effectors can be connected by way of a quick connect and disconnect mechanism. The end effectors include a set of links having different lengths, one or two extension links, a wrist and gripper mechanism, an aiming and disruptor mechanism, and a relocatable surveillance camera.

Abstract: In order to manufacture a semiconductor device of high performance a small-sized transfer arm mechanism, capable of retaining a predetermined transfer stroke, is put to practical use without any increase in the height of the arm mechanism. The transfer arm includes arcuate portions having center axes different from each other, and restraint generating means for generating restraints in directions where the individual center axes are attracted. This way, a plurality of arms are joined by joints having a structure for transmitting rolling motions to the arcuate portions contacting each other to thereby control the drive shaft of the arcuate portions rotationally and thereby move the arms. This transfer arm mechanism is used in various environments including semiconductor manufacturing, such as DRAMs.

Abstract: Several improvements relating to hexapods are described. The improvements relate to universal joints and ball and socket joints where two struts meet at a common focal point, two axis gimbals which are used for ballscrew drives in universal joints and a micro positioning device incorporating a hexapod structure. The universal joint (1) includes two part spheres (13, 14) connected to one strut (12) and a rotatable ring (15) connected to another strut (11). The two part spheres (13, 14) are secured together by fasteners (25) with the ring (15) secured therebetween so as to form a sphere. The ring (15) is preloaded and rotatable about a common axis (17) of the sphere.

Abstract: An improvement is set forth in a robotic arm structure which includes at least two links. .theta. motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, .theta., Z and yaw, roll and/or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, .theta., Z and yaw, roll and/or pitch motions.