Abstract: A robot arm, which is driven by an elastic body actuator and has a plurality of joints, is provided with an arm-end supporting member that supports the robot arm when made in contact with a supporting surface that is placed on an arm-end portion of the robot arm and a control unit that controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other, and further controls a position and orientation of the arm-end portion of the robot arm.

Abstract: A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.

Abstract: An articulated robot includes a wrist carrying a flange for attachment of an apparatus to be carried by the robot. The wrist comprises a first support mounted on a robot component that is rotatable about a first axis, a second support rotatably mounted on the first support about a second axis inclined with respect to the first axis, and a third support rotatably mounted on the second support about a third axis, inclined with respect to the second axis. A first motor carried by the first support drives the rotation of the second support, and a second motor carried by the second support drives the rotation of the third support, which ends with the flange for attachment of the apparatus to be carried by the robot.

Abstract: The invention relates to a foot and a humanoid robot having the foot. The invention is of particular utility in the production of humanoid robots coming as close as possible to the human morphology. According to the invention, the foot includes: a sole, toes, a motorized connection, independent of the ankle, in rotation between the sole and the toes, the toes being able to move on an angular travel about an axis of the connection, an actuator allowing the connection to be motorized, and means for controlling the actuator in a standalone manner.

Abstract: A manipulator includes an end effector, a support member that supports the end effector, and a fixing member provided to the support member and made of a tube-shaped flexible film with a space therein. In the manipulator, a fluid is supplied to the space of the fixing member to inflate the fixing member so that a flexible cover for covering the end effector is fixed to the support member. Accordingly, cleanness of the end effector is restored.

Abstract: A wrist structure of a robot arm includes a forearm body, a first rotating assembly, a wrist body, and a second rotating assembly. The first rotating assembly is disposed in the forearm body and drives the wrist body to rotate with respect to the forearm body in a first rotation axis direction. The second rotating assembly is disposed in the wrist body and drives a workpiece to rotate with respect to the wrist body in a second rotation axis direction. The first rotating assembly has a first speed reducer directly connected to the wrist body, so as to directly drive the wrist body at a predetermined speed reduction ratio, thereby obtaining a predetermined torque.

Abstract: A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.

Abstract: A device for adjusting the backlash in bevel gears in an industrial robot which includes a first conical gear wheel with a first axis of rotation and a second conical gear wheel. The device includes a displaceably arranged holder member adapted to fix and rotatably journal the first gear wheel for rotation about the first axis of rotation.

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: 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: Disclosed is a robot which is compact in structure and may be movable in a large working range, wherein move members 1, 1 may be moved by drive devices 4, 4 respectively along a straight line and in parallel with each other, the drive devices 4, 4 including motors 40, 40 respectively which are individually controlled by a control device 9, so that the move members 1, 1 may be moved at a different speed and may be stopped at different relative positions. The move members 1, 1 are connected to a work holder 3 by means of arms 2, 2, the arms having one end pivotally connected to the move members 1, 1 at the pivots 10, 10 thereof respectively, the arms 2, 2 having the opposite end pivotally connected to the work holder 3 at the pivots 30, 30 thereof respectively. The work holder 3 may hold an optional jig and may be moved in a horizontal plane and in a vertical plane enabling the jig to work in the working plane.

Abstract: A robotic hand assembly comprising: a hand section comprising: at least one digit provided with at least one actuatable joint; and a control section comprising: at least one actuation device, the at least one actuation device comprising: a sensing module configured to sense a force applied to a tendon coupled at a first end to the at least one actuatable joint; and an actuation module configured to actuate the at least one actuatable joint.

Abstract: A robot wrist for a painting robot has several wrist sections that can be rotated relative to one another, an internal conduit that passes through the wrist sections, a flexible hose carried in the internal conduit and having a hose drive operating on the hose to achieve positive rotation of the hose in the internal conduit corresponding to the rotation of the wrist sections.

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: A flexible wrist-type element and methods of operation thereof, including variations having an angularly moveable hub housing a rotatable and operable end effector driven via a drive train having one or more universal-type joints and/or other flexible couplings moveable via an input mechanism within a housing.

Abstract: A concentric joint mechanism includes a frame, a flexible spherical body, a first friction wheel, a first power device, and a fixing device. The flexible spherical body is disposed inside the frame. The first friction wheel is disposed inside the frame and abuts against the flexible spherical body for driving the flexible spherical body to rotate in a first direction. The first power device is connected to the first friction wheel for providing power to the first friction wheel. The fixing device is connected to the frame and abuts against the flexible spherical body for fixing the flexible spherical body inside the frame together with the first friction wheel.

Abstract: A wrist unit to be arranged in an industrial robot including a control system and a manipulator. The manipulator includes a robot arm and a wrist unit arranged on the robot arm and including a wrist housing arranged for rotation about a fourth axis of rotation, a wrist part/tilt pivotally journalled in the wrist housing for rotation about a fifth axis of rotation. A second transmission is configured to transmit rotation form a second drive unit to the turn disc about the sixth axis of rotation where the control system controls the first and second drive units.

Abstract: A rotary coupling for a multi-axial robot hand (19) is provided with a rotatable hand housing (20) and an output element (21) that is rotatable on said housing. The rotary coupling (62) includes connections (65, 66, 68) for the output element (21), a tool (23) and an accessory unit (30). The tool (23) and the accessory unit (30) can be rotated relative to each other, and the accessory unit (30) can be coupled to the hand housing (20) or to the tool (23) or to the output element (21) via the rotary coupling (62). The rotary coupling (62) is provided for an application device (11) which is used to apply a sealant (8) on a lock seam (7) of an add-on piece (4) of a vehicle body (3).

Abstract: A surgical instrument for use with a robotic surgical system is described. The instrument includes an elongate shaft having a proximal end and a distal end. An electrically live wrist member is disposed at the distal end of the shaft. An electrocautery end effector is mounted to the wrist member. An interface is disposed at the proximal end of the shaft. The interface is removably connectable to the robotic surgical system. A conductor extends from the interface to the end effector so as to deliver electrical energy to tissue engaged by the end effector. A tip cover is disposed over the wrist member so that electrical current can only be conducted to tissues through the exposed end effector (e.g., to promote blood coagulation during usage) and not to other parts of the patient's body.

Abstract: A robot arm for an industrial robot. The robot arm includes a wrist housing, a wrist, and a turn disc. The wrist is rotatably connected to the wrist housing and the turn disc is rotatably connected to the wrist. A first motor drives the wrist and a second motor drives the turn disc. A first driving rope transmits the motor rotation to the wrist, and a second driving rope transmits the motor rotation to the drive pulley.

Abstract: The present invention provides an industrial robot, wherein a cable or the like spanned between an end effector and an upper arm has less bending due to a motion of a wrist portion, wherein the cable or the like does not twine around the upper arm, and wherein the cable or the like does not interfere with a peripheral device. A passage opening 25, through which a cable or the like 12 for supplying power, signals or materials to an end effector 9 attached to a rotating element 7 is drawn out of a body 6, is opened at a position, at which the body 6 intersects with a center of a first axis (an R-axis). The cable or the like 12 drawn out of the passage opening 25 is extended to the end effector 9.

Abstract: A parallel robot including a movable-section drive mechanism having a parallel mechanism configuration and operating to allow a movable section to perform a three-axis translational motion with respect to a base section, and a wrist-section drive mechanism operating to allow a wrist section to perform a three-axis orientation-changing motion with respect to the movable section. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached.

Abstract: A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled.

Abstract: A robotic painting system includes an applicator, a first paint metering device in fluid communication with the applicator, a second paint metering device in fluid communication with the paint applicator, and a paint supply in fluid communication with each the paint metering devices to fill at least one of the paint metering devices with a desired amount of paint, wherein each of the paint metering devices is electrostatically isolated from the paint supply, and wherein a color change time and a paint waste are minimized and a cleaning operation of the system is optimized.

Abstract: An industrial robot has an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element. An umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to the work tool or to the motor. A pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm and the umbilical-member connected to the work tool is passed inside the pipe member. The flat cable connected to the motor is wound around outside of the pipe member, with the flat cable arranged to become slack in a rotating direction of the wrist element.

Abstract: A robotic end effector system and method having a plurality of end effectors which are selectively suitable for particular applications on a workpiece. The end effectors include a resident controller adapted to execute tasks specific to the end effector and are rapidly attachable and removable from the robot for easy change over to different workpieces.

Abstract: A robot has a structure in which finger joints do not interfere with each other. The robot includes a first actuator driving the finger joint, a first power transmission, a second actuator driving the finger joint, and a second power transmission. The first actuator and the first power transmission are coupled with a wrist joint so that the position of the first actuator and the first power transmission is changed. Accordingly, even if the wrist joint operates, the distance between the first actuator and the finger joint is constantly maintained.

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 robot is provided in a Cartesian space. The robot is provided with a linear movement rail, a movable body, a swing arm, a linear movement arm. The linear movement rail extends in parallel with the X-axis direction. The movable body is linearly moved in the X-axis direction along the linear movement rail. The swing arm has a first end and a second end. The first end is rotatably connected to the movable body around an R-axis (which is a swing axis) extending in a horizontal direction which is orthogonal to the X-axis direction and the second end extends radially from the R-axis. The linear movement arm, which is connected to the second end of the swing arm, moves a wrist unit in the Y-axis direction which is in parallel with the R-axis. A task tool is loaded to the wrist unit.

Abstract: A swivel joint that is placed between a working device and a forwardly/reversely rotatable wrist section provided on a body section of an industrial robot and has a fluid transmission route for interconnecting the wrist section side and the working device side. The fluid transmission route is a hose, and between the wrist section and the working device, the hose is loosely spirally wound with a margin around a shaft section that rotates together with the wrist section. One end of the hose is non-rotatably fixed to the shaft section, and the other end is fixed so as to be movable with movement of the shaft section.

Abstract: The position of a movable element such as the end of a robot arm (10) which has several degrees of freedom, being mounted on a base (11) and including a wrist mechanism, is determined by installing a multiplicity of base targets (32, 74) around the base of the robot, and a multiplicity of arm targets (42, 74) around the base (14) of the wrist mechanism (15), and an optical means (90) that moves with the movable element to determine the positions of at least some of the base targets and of at least some of the arm targets. The optical means may be a laser tracker or a camera system (90), and it may be mounted on the part (13) of the robot arm to which the base (14) of the wrist mechanism (15) is connected. This enables existing robots (10) to achieve absolute positional accuracy relative to a fixed external frame of reference.

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 robot is provided which comprises a wafer blade (105) having a pocket (109) therein for receiving a semiconductor wafer, and a retractable protrusion (107) which is movable from a first position in which said protrusion prevents the removal of said wafer from said pocket, to a second position in which said protrusion permits the removal of said wafer from said pocket.

Abstract: A concentric joint mechanism includes a frame, a flexible spherical body, a first friction wheel, a first power device, and a fixing device. The flexible spherical body is disposed inside the frame. The first friction wheel is disposed inside the frame and abuts against the flexible spherical body for driving the flexible spherical body to rotate in a first direction. The first power device is connected to the first friction wheel for providing power to the first friction wheel. The fixing device is connected to the frame and abuts against the flexible spherical body for fixing the flexible spherical body inside the frame together with the first friction wheel.

Abstract: An apparatus for processing objects includes an elevated tubular frame rail mounting a four axis robot arm with a tool such as a painting applicator. The robot is attached to a mounting base that moves along the rail permitting painting of the top and/or side of a vehicle body. Electrical power and fluid lines can be routed through the rail to the robot. Two such rails and multiple robots can be combined as a module for installation in a new or an existing painting booth.

Abstract: A robot includes a work tool, an arm, a cable, and a third member. The work tool is configured to perform a predetermined work with respect to a workpiece. The work tool is attached to the wrist. The arm supports the wrist and is rotatable around a rotational axis. The arm includes first and second members which are provided substantially in parallel to each other in a longitudinal direction of the arm to form a space between the first and second members. The cable extends through the space and is connected to the work tool. The third member connects the first and second members.

Abstract: A flexible wrist-type element and methods of operation thereof, including variations having an angularly moveable hub housing a rotatable and operable end effector driven via a drive train having one or more universal-type joints and/or other flexible couplings moveable via an input mechanism within a housing.

Abstract: A painting robot outer arm includes a non-conductive housing mounting a color changer on the outside and a paint canister on the inside connected by an isolating paint transfer line. The paint canister is releasably attached to a piston ram and drive motor by a quick disconnect coupling. The paint supply is isolated from the applied high voltage by cleaning and drying the transfer line. The rate of filling of the canister can be controlled in response to sensed torque applied by a drive motor moving a piston in the paint canister.

Abstract: A robotic master controller having a series of linking members interconnected by pivots to each other and a hand grip with relative position sensors therein and sensing yaw and pitch of the hand grip due to movement of the user. The final linking member including an arched section that terminates in a pivot for the hand grip that is located within the user's hand during use and has an axis of rotation that generally aligns with a roll axis of rotation of the arm when the user's hand rotates between a palm up configuration to a palm down configuration. The final linking member also includes an arched section that extends over and cradles the outer palm of the hand when the hand is in the palm up configuration. The user reaches around the outside (to the right for a right arm controller) to grasp the hand grip.

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: An automatic manipulator, such as a multiaxial industrial robot, with a carrying component structure (support structure) for transmitting forces between individual members of the automatic manipulator. The entire support structure is formed from a material that is resistant with respect to external effects, such as moisture or the like. The material of the support structure may be, in particular, a material that is suitable for use in contact with foods, such as stainless steel, so that the automatic manipulator according to the present invention can be used reliably and without additional costly protective measures in environments in which there is a risk for contamination, such as in the food industry.

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: A robotic is provided which comprises a hub (203); (b) a first lower arm (209) comprising first (213) and second (215) lower arm segments and having a first set of upper arms (229, 231) attached thereto; and (c) a first adjusting means (241) for adjusting the height of the first lower arm segment with respect to the second lower arm segment.

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.

Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.

Abstract: Disclosed is a pressure transmission assembly for mounting to a robotic device having a rotatable end effector. The pressure transmission assembly includes a housing and a flexible pressure transmission member. The housing includes an input port and an output port. The flexible transmission member is coupled between the input port and the output port of the housing. The flexible transmission member is wound within the housing between the input port and the output port and is configured to receive a pressure signal at the input port and to transmit the pressure signal to the end effector through the output port.

Abstract: Even if the coupling surface of an arm side attachment and a tool side attachment is directed in a direction other than the horizontal direction, the tool side attachment can be automatically separated and detached from the arm side attachment. When exchanging a tool, the worker does not have to forcibly pull out and detach a tool side attachment from an arm side attachment, a tool can be exchanged automatically, and the exchange work can be performed easily in a short period of time. When the cam member 17 is shifted from the unlocking position to the locking position, locking balls 13 which slide on locking inclined tapered surfaces 17a to be shifted to the outside along the radius direction are engaged with engaging inclined tapered surface 23a so as to mutually couple an arm side attachment 3 and a tool side attachment 5.

Abstract: A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.

Abstract: A first elastic body actuator and a second elastic body actuator are used for driving a first configuration member and a second configuration member to swing them with respect to each other. One end portion of the first elastic body actuator is secured to the first configuration member and the other end portion of the first elastic body actuator is secured to the second configuration member, and one end portion of the second elastic body actuator is secured to the first configuration member and the other end portion of the second elastic body actuator is secured to the second configuration member, such that the position at which the other end portion of the second elastic body actuator is secured to the second configuration member and the position at which the one end portion of the first elastic body actuator is secured to the second configuration member are substantially symmetric about a rotational joint.

Abstract: A rotary leadthrough of a robot arm, in particular of a fourth axle of a Delta robot, has a housing and a shaft, located in an axial leadthrough of the housing and supported rotatably in this housing, for connection to the robot arm. The housing has at least two openings for cleaning the axial leadthrough. The shaft at least in a portion of its length, has a diameter which is less than the diameter of the axial leadthrough in that region, so that there is a void between the shaft and the axial leadthrough.