Abstract: Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.

Abstract: A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location.

Abstract: In a system, one or more robotic arms are positioned adjacent a transport surface that is moving workpieces, and one or more picking elements are connected to each of the robotic arms. The picking elements have physical picking features that remove the workpieces from the transport surface and move the workpieces to another location. A controller is operatively connected to the robotic arms and the picking elements, and the controller independently controls the robotic arms and the picking elements to dynamically position the picking elements in coordination with a dynamic size, spacing, and transport speed of the workpieces being moved by the transport surface.

Abstract: A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.

Abstract: A manually actuated robotic tool changer includes a first housing having a generally cylindrical piston with a central axis partially extending from the first housing, the piston rotatable about the axis. A plurality of tabs are disposed about the circumference of a portion of the piston extending from the first housing. A second housing has a bore to receive a portion of the piston. A plurality of locking lugs are disposed about the bore. The tool changer is manually actuated from an unlocked position wherein the piston assumes a position with respect to the first housing such that the extending portion of the piston may be moved within the bore with the tabs moving between the locking lugs, to a locked position wherein the piston is rotated with respect to the first housing such that the tabs move beneath the locking lugs to lock the first and second housings together.

Abstract: A substrate transport apparatus for transporting substrates, the substrate transport apparatus including a frame, at least one transfer arm connected to the frame, at least one end effector mounted to the at least one transfer arm and at least one substrate support pad disposed on the at least one end effector, the at least one substrate support pad has a configuration that effects increased friction force, resulting from an increased friction coefficient, in at least one predetermined direction.

Abstract: A workpiece transporting apparatus includes a hand, a rotating portion for rotatably holding the hand, an arm provided in the hand and having one end provided at the rotating portion, and a holding portion provided in the hand and provided to another end of the arm for holding a workpiece, in which a center portion of the holding portion is disposed with a predetermined interval from an axial line extended from a rotational center of the rotating portion toward another end of the arm.

Abstract: An instrument driver comprises opposing rotatable gripping pads. Each of the gripping pads including an outer circular rim and a center hub. The pads are configured for applying a gripping force to an elongated member. The instrument driver further comprises shafts affixed to the center hubs, and a driver assembly configured for rotating at least one of the shafts, thereby causing the pads to rotate in opposite directions to linearly translate the gripped member. Each of the pads further includes a framework for partially collapsing in response to the gripping force, such that portions of the rims flatten to contact each other. Each rim has a concave gripping surface in order to facilitate vertical centering of the member between the pads. Each of the pads further includes a pair of upper and lower sprockets for interlacing with each other to prevent the elongated member from slipping out between the pads.

Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.

Abstract: The present disclosure relates to a system, method and article which may be configured to autonomously dispense a medium onto a relatively large surface relatively accurately.

Abstract: A robot cleaner is disclosed. The robot cleaner includes a cleaner body, a position sensor disposed in the cleaner body, the position sensor including a light transmission unit to emit light and a light reception unit to receive light reflected or scattered from an obstacle after being emitted from the light transmission unit, and a transparent member to transmit the light emitted from the light transmission unit and the light to be received by the light reception unit.

Abstract: A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.

Abstract: The invention is a modular and autonomously reconfigurable manipulator system which introduces a new dimension to the versatility of robot manipulation for diverse tasks. The hardware component is a redundant mechanism which can lock any number of its joints at any relative position to form a particular configuration with a certain number of degrees of freedom and specific values for kinematic, dynamic and control parameters, optimum for a given task to be performed. The process of identifying the optimum configuration for a given task and implementing it on the manipulator is done autonomously through the system software. Therefore, no manual interaction is required to form a new configuration most suitable for a given task. The kinematic, dynamic and control parameters of the system can vary continuously enabling the manipulator to form virtually an infinite number of configurations.

Abstract: An end effector device attached to a tip end portion of a robot arm includes a plurality of support units provided on a blade. Each of the support units includes: a plurality of nail pieces configured to support peripheral portions of a plurality of semiconductor wafers such that the semiconductor wafers are parallel to one another and spaced apart from one another; and a pitch changing mechanism configured to change upper-lower intervals of the nail pieces. The pitch changing mechanism includes: a coil spring configured to support the plurality of nail pieces such that the plurality of nail pieces are spaced apart from one another in an upper-lower direction and elastically deform in the upper-lower direction; and an operating mechanism configured to cause the coil spring to elastically deform in the upper-lower direction. The operating mechanism includes a piston pin fitted in the coil spring to move up and down.

Abstract: A tire mounting apparatus is constructed from a first working mechanism and a second working mechanism that are separate from each other. The first working mechanism is provided with a tire holding device for holding a tire and with a temporary tightening device for temporarily tightening nuts onto hub bolts to which the tire is mounted. The second working mechanism is provided with a final tightening device means for finally tightening the temporarily tightened nuts. The final tightening device includes two nut runners and an interval adjuster for adjusting an interval between the two nut runners.

Abstract: A single- and dual-chamber module-attachable wafer-handling chamber includes: a wafer-handling main chamber equipped with a wafer-handling robot therein, and adaptors for connecting process modules to the wafer-handling main chamber. The adaptors are detachably attached to the sides of the wafer-handling main chamber, respectively, and the process modules are detachably attached to the adaptors, respectively, so that the process modules can be attached to the wafer-handling main chamber, regardless of whether the process modules are of a single-chamber type or dual-chamber type.

Abstract: A manipulator system includes a master manipulation unit that performs a manipulation input by an operator, a slave motion unit that operates in accordance with the manipulation input, an interlock control unit that analyzes the manipulation input and performs control to operate the slave motion unit, interlocking with the manipulation input, and an interlock permission input unit that is capable of being manipulated by the operator and transmits, to the interlock control unit, an interlock permission mode signal used to enter a mode in which interlock of the slave motion unit is permitted based on the manipulation input of the mater manipulation unit when the operator manipulates the interlock permission input unit.

Abstract: A workholder includes a connecting member, a polishing member mounted on the connecting member, an elastic member sleeved on the connecting member, and a fixing assembly for movably receiving the connecting member. An end of the elastic member resists the polishing member, and the other end of the elastic member resists the fixing assembly, such that the connecting member is moveable to adjust a position of the polishing member when polishing.

Abstract: To automatically perform an attachment work of a material supply to a target object, a robot system includes a robot provided with a body, a first arm provided for the body and having a plurality of joints, a second arm provided for the body separately from the first arm and having a plurality of joints, and hand units respectively provided for the first arm and the second arm. The robot holds one of a plurality of types of workpiece components using the hand units of the first arm and the second arm at the same time, and the remaining type of the workpiece components is held and carried by the hand unit of the first arm or the second arm.

Abstract: A system and method for preparing treats is presented. A vending machine for building custom ordered treats includes an enclosed housing with windows. A robot is inside the housing and first and second user interfaces are attached to the housing. The first and second user interfaces accept inputs from first and second users respectively. The robot has left and right arms as well as a simulated head to make it appear somewhat human like. The left and right arms work together to assemble a single treat when only one treat has been requested at the vending machine. However, when two different treats have been requested the left arm can work independently, at least sometimes, of the right arm on a custom treat for the first user. Similarly, the right arm can, at least sometimes, work independently of the left arm on a custom treat for the second user.

Abstract: An integrated locking device that includes both a linear locking mechanism and a rotary locking mechanism. The locking device includes a housing where the linear locking mechanism and the rotary locking mechanism are mounted to different sides of the housing so as to reduce the height of the device.

Abstract: A polymer laminate is fabricated by laying down layers of an ultra-high molecular weight polymer material on top of each other, and fusing the layers to each other by cross-linking molecular chains of adjoining layers.

Abstract: Apparatus for automated venting and/or sampling of a specimen container having a closure sealing the interior of the specimen container from the environment is disclosed. The apparatus includes a rack holding the specimen container; a venting and/or sampling device having a needle, a chamber in fluid communication with the needle and a port in fluid communication with the chamber; a robotic transfer mechanism moveable relative to the rack; a sample removal apparatus attached to the robotic transfer mechanism having gripping features for gripping the venting device.

Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

Abstract: Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices has an arm. The arm can have two arm components coupled at a joint.

Abstract: Aspects of the subject technology relate to a robotic finger digit including a distal finger joint coupled between a distal finger part and a middle finger part, a middle finger joint coupled between the middle finger part and a proximal finger part and an extend tendon coupled at a first end to the distal finger joint, and coupled at a second end to an actuation device. In certain aspects, the robotic finger can further include a flex tendon coupled at a first end to the distal finger joint, and coupled at a second end to the actuation device, wherein the actuation device is configured to move the extend tendon and the flex tendon substantially the same distance in order to flex and/or extend the robotic finger digit.

Abstract: A method and apparatus for applying sealant. The apparatus may comprise a sealant flow control system. The sealant flow control system may be configured to engage a nozzle of a sealant container to reduce a flow of sealant from the nozzle.

Abstract: To automatically perform an attachment work of a material supply to a target object, a robot system includes a robot provided with a body, a first arm provided for the body and having a plurality of joints, a second arm provided for the body separately from the first arm and having a plurality of joints, and hand units respectively provided for the first arm and the second arm. The robot holds one of a plurality of types of workpiece components using the hand units of the first arm and the second arm at the same time, and the remaining type of the workpiece components is held and carried by the hand unit of the first arm or the second arm.

Abstract: A chord-playing robot system is disclosed. The robot system includes a computer including an anti-collision program, two linear motors, two moving devices, and two finger-like devices. The finger-like devices are respectively connected with the moving devices. The anti-collision program is executed to prevent the moving devices from colliding with each other. The linear motors are controlled by the computer and are operable to drive the moving devices. Each finger-like device includes a plurality of tubular solenoids and a plurality of electromagnetic bars. The tubular solenoids are disposed in alternating sequence in two rows. The computer is operable to determine if there is any one of the tubular solenoids shall be switched on. The at least one tubular solenoid, upon switched on, is configured to move the associated electromagnetic bar toward for pressing a key on a piano.

Abstract: A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

Abstract: A manufacturing system includes a gantry module, having an end effector, for moving workpieces from a conveyor system to a working area, such as a swap module. The swap module removes a matrix of processed workpieces from a load lock and place a matrix of unprocessed workpieces in its place. The processed workpieces are then moved by the gantry module back to the conveyor. Due to the speed of operation, the end effector may build up excessive electrostatic charge. To remove this built up charge, grounded electrically-conductive brushes are strategically positioned so that, as the end effector moves during normal operation, it comes in contact with these brushes. This removes this built up charge on the end effector, without affecting throughput. In another embodiment, the end effector moves over the brushes while the swap module is moving matrix to and from the load lock.

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

Abstract: A system is used for robotically controlling movement of a human-controllable catheter, wherein the catheter has at least one position sensor for generating or receiving signals used for determining six dimensions of location and orientation information. The system uses a robotic control mechanism and a computer for driving the robotic control mechanism to (i) translationally move the catheter distal end in a vicinity of a target, (ii) deflect the distal end of the catheter, and (iii) rotate the catheter. The computer determines roll of the catheter using six dimensions of location and orientation information based on signals generated or received from the at least one position sensor.

Abstract: A robot claw includes a base seat, more than one elastic assemblies, and at least two first clamping assemblies. The base seat includes a first fastening surface and a second fastening surface opposite to the first fastening surface. Each first clamping assembly includes a sliding unit fastened to the first fastening surface of the base seat and a clamping member fastened to the sliding unit. The sliding unit includes a guide rail. Two elastic assemblies are loaded at two opposite ends of each guide rail; when each of the clamping member slides to one end thereof, one elastic assembly elastically resists with an air cylinder to drive the air cylinder with the clamping member to slide towards the other end of the guide rail of the sliding unit.

Abstract: Systems, apparatus and methods for transporting substrates between system components of an electronic device manufacturing system are provided. The systems and apparatus include an electrostatic end effector having a base, an electrode pair on the base, and spacer members for spacing the substrate from the electrode pairs to provide a gap between the electrode pair and the substrate. Methods of the invention as well as numerous other aspects are provided.

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: A change-over coupling (1) for robot-guided vehicles (3) has a plurality of media couplings (11, 12) and has coupling parts (4, 5) having basic supports (6, 7), media coupling supports (13, 14) and a coupling mechanism (8), and also peripherally arranged interfaces (16) having a fitting element for the media couplings (11, 12). The interfaces (16) have a plurality of fitting elements (19, 19?, 20, 20?), which act in a plurality of different directions or axes and which are arranged preferably at a periphery, in particular on a circumference of a disc-like or annular basic support (6, 7).

Abstract: A finger-gesticulation hand device includes a base frame representing a metacarpal part of the human hand, and at least three digits mounted on the base frame and appearing to be a thumb and at least two fingers. Each digit has at least two phalange portions respectively linked by two joints which permit a flexing movement of the phalange portions between extended and flexed positions. An actuating cord passes through each digit and is actuated by a solenoid actuator unit to pull the phalange portions of the respective digit to the flexed position. The hand device is simple in construction and capable of making hand gestures in a simple manner.

Abstract: A surgical robotic system is provided including at least one robotic unit that is mechanically self-contained such that the robotic unit is movable on a bodily surface inside a patient's body independently of any structure positioned outside of the patient's body, and a control device positioned remotely from the at least one robotic unit, wherein said control device transmits commands that manipulate the at least one robotic unit inside the patient's body. A method of performing a robotically assisted medical procedure is also provided, including positioning at least one robotic unit inside a patient's body, moving the robotic unit on a bodily surface inside the patient's body by transmitting commands thereto via a control device that is positioned remotely from the at least one robotic unit, and actuating at least one medical tool positioned on the robotic unit via the control device.

Abstract: A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.

Abstract: The invention relates to a method and to a system for aligning and controlling the position of a robot tool, wherein a monitoring device is equipped with a detection unit and processing unit which co-operates with the control device of the robot and automatically determines the alignment of the robot tool by means of the detection unit by taking into account at least one pre-determined reference direction of the robot tool, in addition to at least one predetermined tolerance angle which defines a tolerance range for the at least one reference direction of the robot tool. The processing unit compares the determined alignment to the predetermined reference direction and/or to the tolerance values predetermined by the defined tolerance range and/or of the at least one tolerance range is not respected, the respective robot tool is disconnected and/or deactivated in co-operation with the control device of the robot.

Abstract: A robotic end effector for collecting frozen aliquots from an array of frozen samples in a plurality of containers has a coring bit for taking frozen sample cores from the frozen samples and a frozen sample core extraction system adapted to extract frozen sample cores from the frozen samples. A fill level detection system is adapted to detect the positions of the surfaces of the frozen samples. A processor is adapted to receive signals from the fill level detection system and use the signals and information concerning operation of the frozen sample core extraction system to determine at least one of the following: (a) the amount of material contained in a frozen sample core obtained by the coring bit; and (b) the number of frozen sample cores needed from a particular frozen sample to obtain a predetermined amount of material from that frozen sample.

Abstract: An adapter assembly (28) for use in an automated handling equipment system includes a first component and a second component that is selectively mountable to the first component. At least one first code member (82) is associated with the first component and at least one second code member (84) is associated with a second component. The at least one first code member and the at least one second code member have a variable orientation relative to each other that controls whether the second component can be mounted to the first component.

Abstract: The end-effector includes an articulating frame mounted on an indexable boom. Tool modules mount on the end-effector and connect to a workpiece. Each tool module includes a flexible dress package including a cable carrier. A channel rail is supported by the end-effector frame and guides the cable carrier. A setup tool and associated process can reconfigure the positions of the tool modules and the frame and boom of the end-effector.

Abstract: Described are systems for and methods of improving the efficiency of an automated data storage library.

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: An apparatus for processing a tire and a wheel for forming a tire wheel assembly is disclosed. The apparatus includes a tire support member including a first tire support member, a second tire support member and a third tire support member. Each of the first, second and third tire support members include an upper surface and a lower surface. The apparatus includes a plurality of tire engaging devices including a first tire tread engaging post and a second tire tread engaging post. A method for processing a tire and a wheel for forming a tire wheel assembly is also disclosed.

Abstract: A facility for assembling aircraft fuselages comprises a plurality of movable cradles. Each cradle is configured to support a fuselage keel structure and assemble a panelized fuselage in a single upright build position.

Abstract: The present disclosure provides for a surgical instrument which includes a housing and an endoscopic portion extending distally from the housing and defining a first longitudinal axis. The surgical instrument also includes an end effector disposed adjacent a distal portion of the endoscopic portion. The end effector includes an anvil assembly and a cartridge assembly. The anvil assembly is pivotally coupled to the cartridge assembly to be movable from a first actuation position to at least one other second actuation position. The surgical instrument further includes a firing rod having a shaft defining a second longitudinal axis, the shaft having a cam member which is in mechanical cooperation with the anvil assembly and is configured to move the anvil assembly from the first actuation position to the at least one other second actuation position upon rotation of the firing rod about the second longitudinal axis.

Abstract: A workpiece transfer system has a plurality of joints having a bearing and a primary and secondary transformer coil, wherein power provided to the primary transformer coil and secondary transformer coil of each joint produces mutual inductance between the primary and secondary transformer coil of the respective joint. A first pair of arms are rotatably coupled to a blade by a first pair of the joints, wherein the primary transformer coil of each of the first pair of joints is operably coupled to the first pair of arms, and the secondary transformer coil of each of the first pair of joints is operably coupled to the blade and an electrode beneath a dielectric workpiece retaining surface of the blade. The electrode is contactlessly energized through the transformer coils of the joint and the blade can chuck and de-chuck a workpiece by reversing current directions and by voltage adjustment.