Abstract: 3-degrees-of-freedom universal joints UJ1 and UJ2 for allowing the hand H1 to make up-down swing motions D1 and side-to-side swing motions D2 are joined to the top right and left parts, respectively, of the wrist portion of the hand H1, and a 2-degrees-of-freedom universal joint UJ3 for allowing the hand H1 to make twisting rotations D3 is joined to the wrist portion of the hand H1 so as to serve as the center of 3-degrees-of-freedom.

Abstract: A bipolar surgical instrument that includes opposing grips that can engage the tissue. A current is delivered from an electrosurgical power source to electrodes disposed on the grips to cauterize the tissue. The electrode configurations provide efficient cauterization of the tissue. In some embodiments, the positive and negative electrodes will be offset from each other to prevent shorting and to provide a thin line of coagulation heating to the gripped tissue. In some embodiments the electrodes are removably coupled to the grips through nonconductive sleeves. In some embodiments, the first electrode is disposed in a groove and the second electrode is disposed on a boss.

Abstract: The invention relates to a robot, specifically a painting robot, having at least one moveable member which has a conduit for lines which houses at least one line. It is proposed that the line is disposed in the conduit at least partially in a spiral or winding configuration and/or is carried by an axially compliant bellows to allow axial movement of the line with a change in the position of the robot.

Abstract: A robot is provided, wherein it is possible to reduce incorrect identification in the case of executing face identification in a place where lighting variations are large such as in a house and in a place where there exists a lighting environment that is bad for identification. A face area of a person is detected from an image picked up at an imaging means and stored, and a face detecting and identifying means identifies a person using face image information stored before then. An identification result reliability calculating means calculates, using information from the imaging means, whether or not a present lighting state is suitable for face identification. When the result of calculation indicates that the lighting state is not suitable for face identification, the robot is moved by a moving means. Thereby, incorrect identification can be reduced.

Abstract: A robotic arm and hand for imitating the human hand. The robotic arm and hand includes a motor member being coupled to a frame member. The motor member is designed for being operationally coupled to the control system and a power source whereby the control system is for controlling power from the power supply to the motor member. A drive assembly is operationally coupled to the motor member whereby the drive assembly is rotated by the motor member. A plurality of cable assemblies are coupled to the drive assembly whereby each of the cable assemblies is actuated by the drive assembly when the drive assembly is rotated by the motor member. A plurality of phalange assemblies are coupled to the cable assemblies. Each of the phalange assemblies is designed for being moved like the fingers of a human when the cable assemblies are actuated by the drive assembly.

Abstract: The present invention concerns an industrial robot (1) comprising an upper arm (2) that can be rotated around a first axis (A), a wrist (6) supported by the upper arm that can be rotated around a second axis (B), a hollow turning device (3, 30) supported by the wrist that can be rotated around a third axis (C) that at its front end comprises a turning disk (8, 33) for attachment of a tool, at least one supply line (K) that runs along the upper arm, that the turning device (3, 30) comprises a collar section (10, 36) with a conical envelope surface (12, 45) attached to the turning disk (8, 33), through which at least one opening (14,40) is arranged for the reception of supply lines (K) that pass through the turning device, whereby the opening has an axial extension along a normal (16) perpendicular to the envelope surface (12), where the supply lines are arranged to run through the opening in a direction that has a component parallel to the third axis (C), which opening is arranged to control in a transverse di

Abstract: A flexible tool for handling small objects, as well as a method for handling small objects using the flexible tool. The flexible tool comprises one or more mini robots, such as a free arm robot and one or more hexapod(s) working in an internal workspace when performing operations on small objects. Furthermore, an external space can be used for storing the objects during non-operation. The hexapods are to engage with a small object and to move a small object between the internal workspace and the external space, and the free arm robot is to move one or more hexapod(s). Fast measurements of robot positions are included, the measurements being feed back to a computer system controlling the mini robots. The computer system further comprises vision and motion planning.

Abstract: A control system for robots comprising a control unit for generating and controlling the paths of a movement of the moving parts of the robot, a drive unit for generating the control signals for controlling the motors associated to the moving parts of the robot, and an Ethernet-type network for connection of the control unit and the drive unit. An interface module is also provided to connect the control unit to peripheral units and distributed input/output units. The drive unit comprises, in conjunction with a plurality of CPUs that close the control loops of the torques generated by the individual motors, a main CPU responsible for position control in the framework of the drive unit. The latter CPU thus retains knowledge of the overall status of the machine.

Abstract: An industrial robot including a manipulator having a control system. The manipulator includes a common gear housing having first and second inner compartments connected with a passage channel. First and second gears are arranged in the first and second inner compartments and are adapted to move the manipulator. A cooling and lubricant medium is disposed in the common gear housing and circulates between the first and second inner compartments through the passage channel.

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: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.

Abstract: A multiple degree of freedom platform assembly formed from a plurality of thin films on a substrate can, when activated, move out of the plane of the substrate without additional manufacturing steps. The platform is connected to the substrate by at least three linkages, each linkage being pivotally connected to the platform and the base. At least two of the base connections are to powered traveling devices that are manufactured at one end of a path and which may be moved to locations along the path to cause the platform to move to predetermined positions. The entire assembly, including hinges, is manufactured as planar structures; preferably by a thin film technology such as MEMS.

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: The CPU 102 detects that the posture of the apparatus main body has been shifted from the normal posture into an abnormal posture on the basis of the acceleration information obtained as detection output of the acceleration sensor 41. Then, it restores the normal posture by means of a playback technique for controlling various drivers 3D through 7D, using route planning data stored in advance in the memory 101 for restoring the normal posture from a falling posture.

Abstract: A controlling apparatus for a robot of the type formed by a plurality of joint actuators and operating in accordance with a behavioral schedule comprises a behavior scheduling unit for setting a robot's behavioral schedule, an operation controller for implementing an operational pattern corresponding to the behavioral schedule as determined by the behavior scheduling unit by driving each joint actuator, a detector for detecting the state of operation implementation by the operation controller and a recording unit for recording a log including the behavioral schedule by the behavior scheduling unit and the state of operation implementation by the detector. A user issuing a command for the robot is authenticated and the contents of the command supplied from the user are recorded in combination with the behavior taken by the robot responsive to the command and the time point of implementation of the behavior.

Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

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: A speed reducer with rotation detector (100) is provided with a rotation detector (110) comprising a code plate (111) having the positional information corresponding to the rotation, a detecting portion (112) for detecting the positional information of the code plate (111) to transform the positional information to an electric signal for output, and an electronic device (113) having the function of processing the electric signal. The rotation detector (110) can detect the output rotation of a-first shaft (130) which is an output shaft at high resolving power and at high accuracy. Also, the speed reducer with rotation detector (100) is used with a motor (190) to enable the full-closed control of the motor (190) to be made at high resolving power and at high accuracy.

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: A six-degrees-of-freedom parallel mechanism for micro-positioning work is disclosed. This mechanism freely performs a desired motion of translation and rotation of a moving platform using internal and external links actuated by linear actuators capable of precisely controlling the link positions, thus being effectively used as a 6dof parallel mechanism required to carry out a variety of micro-positioning works within a limited workspace. In the mechanism of this invention, a moving platform 10 is placed at an upper position, with a multiaxial spherical joint 40 mounted to the central portion of the moving platform 10. A base platform 20 is placed at a lower position of the mechanism. Three external links 30 couple the moving platform 10 to the base platform 20, while three internal links 50 couple the multiaxial spherical joint 40 to the base platform 20. In this mechanism, the internal links 50 are commonly coupled to the multiaxial spherical joint 40 so as to form a tetrahedral structure.

Abstract: Device comprising two linkage mechanisms each having at least three bars (B11, 21, 51) of which a first and a second bar with the same length extend parallel to each other and are pivotably interconnected by at least a third bar. The two first and two third bars of both mechanisms are pivotably connected at a common main pivot (MP). Hinge point (HP1, HP2) of the first bars lying away from the main pivot are independently movable along linear paths. The device is further provided with a tool (T) comprising the main pivot. The first and second bars of each mechanism are pivotably connected by a fourth bar (B41, 42), lying parallel to and having the same length as the third bar. The fourth bar is rotatable about the hinge point of the first bar.

Abstract: A robot failure diagnosing system in which sound input by the user is interpreted/recognized by a command recognizing section in order to notify a request for a diagnosis to a self-diagnosis section. For example, the user can input a command which prompts a self-diagnosis operation in the form of a natural communication, such as by saying, “Perform a self-diagnosis operation,” and by asking, “How do you feel, robot?” With respect to this, the robot can indicate the self-diagnosis result in the form of a natural conversation, such as by saying, “I'm not feeling well,” “My leg hurts,” and “I'm hungry.” The robot failure diagnosing system performs a self-diagnosis of a failure or abnormality in a system, and feeds back the diagnosis result to the user.

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: A wrist mechanism of an industrial robot is described which comprise first, second and third wrist elements rotatably supported relative to each other around respective rotation axes which are mutually inclined, which leaves 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. The second and third wrist elements carries first and second ring-shaped hollow reduction units, and their respective output shafts rotates the second and third wrist elements, respectively, thereby the amounts of backlashes and flank wears in the transmitting gears as well as the amounts of reflected rotational movements of the second and third wrist elements affected by the rotational movements of the first and second wrist elements are reduced within fractions of the reduction ratios of each of the reduction units, which result the controllings of the positionings of the wrist elements become easy and accuracies thereof are increased.

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: 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: The present invention provides an articular endoskeletal prosthesis 1 for providing a user with at least one of a mechanically operable pivoting wrist, elbow and shoulder joint. The prosthesis 1 has at least one elongate endoskeletal tube upper limb member 5 with a proximal end portion 6 having a pivotal connection 7 to a support body 9 therefor. One of said upper limb member proximal end portion 6 and said support body 9 has a fixed worm gear wheel means 19 and the other a drive motor 22 having a drive output worm 25 extending generally tangentially of said worm gear wheel means 19 for engagement with the gear teeth of said worm gear wheel means 19 so that when said drive motor 22 is operated, in use of the prosthesis 1, said upper limb member 5 moves around said worm gear wheel means 19 so as to pivot said upper limb member about its pivotal connection 7.

Abstract: A tripod bearing device featuring a stationary frame and a carrier moveable relative to it, which are connected together via three braces that are adjustable in their lengths. Each brace is coupled to the frame and to the carrier via a joint each with two rotational degrees of freedom. Moreover, a torsion drive is assigned to each brace for twisting the carrier-end joint of the relevant brace relative to the frame-end joint of this brace about its longitudinal axis. Consequently, a constructively simple parallel structure with three machining axes can be realized which, with its high dynamic stiffness, enables an accurate positioning of the carrier. Furthermore, a method for torsion compensation in the braces is given.

Abstract: A parallel mechanism is capable of positioning and orienting an end platform with up to six or more degrees of freedom. In preferred embodiments, the mechanism includes six links having a first and second ends. The first end is connected to an end platform for supporting a tool, while the second end is connected to an actuator capable of translating the second end. A rotational drive mechanism may be provided for rotating an object mounted on the end platform at varying orientations of the end platform independently of movement of the end platform as a whole. The links may be curved in order to avoid interference between adjoining links, thereby permitting an increased range of motion and improved dexterity of the mechanism.

Abstract: A robot controller is provided which can smoothly switch the mode between a position control in a free space and a position or force control to a contact surface, so that even if the contact surface has an unknown geometric error, the control system mode can be switched without the damage of a contact object and a workpiece and the out-of-control of the robot. The workpiece is moved to approach an estimated contact surface within the free space under a position control. Next, a groping motion is carried out under a position control from the estimated contact surface to an actual contact surface, and switched to a contact motion under a force control at the time point when the detected force value exceeds a certain threshold value. Then, a leaving motion is carried out.

Abstract: A spherical robot having a spherical body and a drive mechanism. The spherical body defines a cavity and a center. The drive mechanism is disposed within the cavity, coupled to the spherical body, wherein said drive mechanism includes a plurality of masses coupled to said body which are radially positionable within said cavity to create a moment about said center of said body, and is adapted to create a moment about the center of the body. This moment causes the body to rotate.

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 compact robotic hand 10 includes a palm housing 16, a wrist section 12 and a forearm section 16. The palm housing supports a plurality of fingers 18, 20, 22 and one or more movable palm members 24, 25 that cooperate with the fingers to grasp and/or release an object. Each flexible finger 18, 20, 22 comprises a plurality of hingedly connected segments, including a proximal segment 16 pivotally connected to the palm housing. The proximal finger segment 16 includes at least one groove 122 defining first and second cam surfaces 126, 128 for engagement with a cable 60. A plurality of lead screw assemblies 54 each carried by the palm housing are supplied with power from a flexible shaft 92 rotated by an actuator 91, and output linear motion to a cable 60 move a finger. The cable 60 is secured within a respective groove 122 and enables each finger to move between an opened and closed position.

Abstract: A material-handling device is disclosed, particularly for use as grappling apparatus for the loading and unloading of balled trees and shrubs in the nursery industry. By providing hydraulically powered rotational mechanism in the vertical plane coupled to and in front of hydraulically powered rotational mechanism in the horizontal plane, an arrangement is provided which is capable of rotating a load by a full 190° about a vertical axis and tilting the load vertically in a range of about 100°, while developing greater lifting power and economic advantages over similar apparatus employing pivot rotary actuators.

Abstract: In order to simplify assembly of a robot hand to a robot arm, the invention is a device for driving a robot hand on a robot arm having a plurality of cardan shafts with which the cardan shafts are borne at their ends distant from the hand on a bearing plate which can be displaced relative to the robot arm.

Abstract: A rotary bearing has a pair (32,40) of bearing members, one of which has convex (34) and planar (36) surface portions, and the other of which has concave (42) and planar (44) surface portions. The convex and concave surface portions and the planar surface portions of the two bearing members bear against each other via an interstitial bearing medium of air, with the axial forces between the convex and concave surfaces counteracting the axial forces between the planar surface portions. When incorporated into a drive mechanism, one of the bearing members is connected to a drive shaft via a first torsionally stiff flexible diaphragm (130), and the other bearing member is mounted to a motor (50) (which rotates the drive shaft) via a second torsionally stiff flexible diaphragm. During operation, flexing of the diaphragms (110,130) accommodates eccentricity in the mounting of the motor (50) without transmitting unwanted loads to the bearing.

Abstract: The systems and methods described herein include hexapod systems, Stewart platform systems and other mechanical movement systems, in which a set of independently moveable trucks support legs that couple to a working surface capable of holding a machine tool or other end-effector, and preferably wherein the trucks travel across a reference surface, such as around the circumference of a circle or along some other pre-defined geometrical pattern or track. For example, as described herein, the systems include Stewart platform machines that have six supportive legs each of which connects to a truck that can travel independently along a track. By coordinating the movement of these six trucks, the working surface can be moved in three dimensional space and can be oriented about three axes, providing control of roll, pitch and yaw.

Abstract: A coordinate positioning machine comprises a fixed structure including a table and a supporting frame (314), rigidly connected together. A moveable arm (310) is suspended from the frame by means of three powered telescopic struts (316), each of which is universally pivotally connected to both the arm and the frame. As a consequence the moveable arm is able to move with three rotational degrees of freedom. Movement of the arm with each of these degrees of freedom is constrained by a passive device (340), connected to the arm and the fixed structure, and which eliminates all rotational movement of the arm, while simultaneously permitting translation thereof.

Abstract: A two-armed transfer robot includes a first arm mechanism and a second arm mechanism. Each arm mechanism has a handling member for carrying a workpiece. The robot further includes a stationary base member and four shafts rotatable about a common vertical axis. Driving devices for the respective shafts are attached to the base frame. The first and second arm mechanisms are actuated upon rotation of the shafts driven by the driving devices. When the shafts are rotated in a same direction, the handling members of the arm mechanisms are caused to pivot about the common vertical axis. When the shafts are rotated in opposite directions, the handling members are caused to linearly move toward or away from the axis. The two arm mechanisms are vertically spaced from each other, so that they do not interfere with each other.

Abstract: The present invention relates to a device for transferring a fluid from a stationary (20) to a rotating machine part (3) by means of a rotary joint (1), which optionally comprises flat radial, conical or cylindrical transition surfaces, wherein an at least partially tubular connecting rod (2) rotating with the rotating machine part (3) is provided thereon for the purpose of conveying the fluid, which rod (2) extends into the area of the rotary joint (1) and which is axially displaceable with respect to the rotary joint (1).

Abstract: A robot 100 has a pedestal 1, upper and lower arms 5, 12 and a quill 21. A drive train comprises motors in the pedestal 100 coupled to three concentric drive tubes 3, 6, 9. The outer drive tube is coupled to the upper arm 5. Driven tubes 11, 14 extend from the upper arm 5 to the lower arm 14. A twisted belt in the lower arm couples the driven tube 14 to the quill 21. The articulator 400 has three housings 21, 44,45; 61,61a each with an axis of rotation transverse to the its neighbors. Brakes A, B, and C selectively lock two housing together to rotate the third housing.

Abstract: A method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.

Abstract: A rotary bearing has a pair (32,40) of bearing members, one of which has convex (34) and planar (36) surface portions, and the other of which has concave (42) and planar (44) surface portions. The convex and concave surface portions and the planar surface portions of the two bearing members bear against each other via an interstitial bearing medium of air, with the axial forces between the convex and concave surfaces counteracting the axial forces between the planar surface portions. When incorporated into a drive mechanism, one of the bearing members is connected to a drive shaft via a first torsionally stiff flexible diaphragm (130), and the other bearing member is mounted to a motor (50) (which rotates the drive shaft) via a second torsionally stiff flexible diaphragm. During operation, flexing of the diaphragms (110,130) accommodates eccentricity in the mounting of the motor (50) without transmitting unwanted loads to the bearing.

Abstract: This invention comprises a general redundant spherical linkage capable of producing a hemisphere or greater of singularity-free, relative motion of two arms which intersect at a fixed point. All points of all links of the invention move on spheres that are concentric about this fixed point of intersection of the two arms. In a general way, the invention can be considered as a sphere which is divided by a central link that supports two pairs of scissoring and intersecting axes of rotation for four semicircular links that are 180.degree. arcs. The semicircular links maintain a constant angle at their point of overlap and support radial arms having axes which pass through the center of the sphere. Each pair of pivoted links controls the spherical motion of one arm within one hemisphere. By simultaneously controlling all four pivoted links, arbitrary relative motion of the two arms can be achieved.

Abstract: There is described a wrist for an industrial robot, comprising three wrist elements rotatably supported relative to each other around respective rotation axes which are coplanar and mutually inclined, which leave a space inside thereof free for passage of supply cables which are to be connected to the tool secured to the robot wrist. The latter has a front flange for coupling the tool and a plurality of radial outlets for the above mentioned supply cables, so as to allow for the use of a tool coupling flange having a simplified structure.

Abstract: A wrist mechanism for a robotic manipulator having kinematically zero length and mutually orthogonal unlimited joints is provided. The wrist mechanism provides access to any reachable point from any arbitrary direction. The wrist mechanism includes an intermediate joint created by two parallelogram four-bar linkages operating in parallel. Each of the four bar linkages include two side bars, a fixed bar and a coupler bar. The coupler bars extend to support a last link of the wrist mechanism which holds an end effector. The kinematic lengths of the side bars are less than the kinematic lengths of the fixed and coupler bars. The side bars of the first parallelogram four-bar linkage are fixed out of phase with respect to the side bars of the second parallelogram four-bar linkage. Also, the side bars of both parallelogram four-bar linkages occupy multiple planes which, along with the kinematic lengths of all the linkage bars, allows for unlimited rotation and zero dwell time.

Abstract: A pair of connected joints in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint imparts force thereto at an acute angle. A third joint is used with a flexible drive tape partly internal thereto. A gripping system having an orthogonally rotatable base effector is supported by this joint using a pair of linear actuators to position the base effector as desired. A counterpart system having an orthogonally rotatable base follower orthogonally rotatable on a pair of linear actuators uses the actuators to null out forces occurring thereon.

Abstract: A machine tool includes a base, a traveling plate to which a tool is to be attached, plural rods, and plural drive mechanisms fixed to the base. Each of the drive mechanisms is provided with a slide table movable on the drive mechanism and with an actuator for moving the slide table. One end of each of the rods is swingably connected to the corresponding slide tables through a first joint and the other end of each of the rods is swingably connected to the traveling plate through a second joint. Each of the first and the second joints include two rolling elements, each of which is rotatably supported by a rolling bearing to swing the rod.As the rolling elements are supported by the rolling bearings without a clearance, the positioning accuracy of the machine tool is enhanced.

Abstract: A robot assembly (10) for opening and holding an automotive door including a base (12) movably mounted to a platform (14). An inner robot arm (18) is pivotally mounted to the base. An outer robot arm (20) is pivotally mounted to the inner arm (18). A tool arm (22) is pivotally mounted to the outer robot arm (20). The tool arm (22) includes a shaft (58) presenting a second tool arm axis (A.sub.4) for rotation about the second tool arm axis (A.sub.4). A sphere (90), presenting first, second and third sphere axes (A.sub.5,A.sub.6,A.sub.7), is mounted to the distal end of the shaft (58) for rotatably supporting a magnet tool (118). A pin (104) extends from the sphere (90) for preventing the rotation of the tool (118) about the first sphere axis (A.sub.) which is parallel to the second tool arm axis (A.sub.4). The tool (118) is positioned in a home position relative to the second tool arm axis (A.sub.4) by a biasing spring (70) operatively connected to the shaft (58).

Abstract: An industrial robot comprises a plurality of robot arms which are movable in relation to each other and support a tool holder. The tool holder comprises an output shaft journal, to which a turning disc is attached. To electrically insulate a tool applied to the tool holder and the robot, an insulating layer is arranged between the turning disc and the shaft journal.