Abstract: The oil content of at least two kinematic modules in different axes of the industrial robot is connected by the oil line to the closed circuit of the oil between interconnected kinematic modules. The system includes the pump engaged in pushing the oil in the upper-mounted kinematic module and the filtration device for filtering the oil in the circulating circuit or in a separate circuit with the oil tank. The system includes at least one diagnostic element, for example an oil temperature sensor or an oil pressure sensor or an oil pollution sensor connected to the evaluation unit. The evaluation unit is interconnected with the industrial robot control system, thus, the oil economy is controlled and planned depending on the actual load of the individual kinematic modules.

Abstract: An industrial robot may include a main body section, a first arm, a second arm, a third arm, a first speed reducer which connects the main body section and the first arm, a second speed reducer which connects the first arm and the second arm, and a connecting mechanism which connects the input shaft of the first speed reducer and the input shaft of the second speed reducer, and a second drive motor which drives the third arm. The speed reduction ratio of the first and second speed reducer are set such that the movement loci of a third articulation section which connects the second and third arm are rectilinear. The connecting mechanism connects the input shafts at a predetermined speed ratio. The second drive motor is mounted on the second arm closer to the tip than where a third articulation section is located.

Abstract: A mechanism includes at least one module (M1) having a tubular structure with at least three faces, each of said faces comprising: two parallel longitudinal fibers (1, 4), rigid and inextensible, whose ends are connected through respective ball or elastic joints (0-1; 4-0) to the ends of the fibers of contiguous modules, or to a base (0); a transverse link (2) connecting said two longitudinal fibers, having a first end rigidly connected to said first fiber and a second end slidably connected to said second fiber, said transverse link being inextensible and having two rotational degrees of freedom; a longitudinal link (32) connecting said transverse link to a homologous transverse link of an adjacent module or to a base via a ball or elastic joint (32-0) and an universal joint (3-32); and an actuator (A) for changing the length of said longitudinal link.

Abstract: A balancing mechanism for a robot configured for lifting heavy weights comprises a hollow balancing body comprising an opening; an elastic assembly received in the balancing body and a pulling rod assembly received in the balancing body and hinged to a robot arm of the robot. One end of the pulling rod assembly resists the elastic assembly, and another opposite end of the pulling rod assembly extends out from the balancing body through the opening, the pulling rod assembly is movably assembled with the balancing body via the elastic assembly to make the elastic assembly capable of producing a balancing moment against the gravity moment of the robot arm.

Abstract: The gravity compensation mechanism includes a first non-circular gear configured to rotate about a rotation axis of an arm part of the robot together with the arm part, a second non-circular gear driven by the first non-circular gear, and an extension/contraction body configured to extend and contract to produce force as the second non-circular gear rotates, one end portion of the extension/contraction body being connected to the second non-circular gear.

Abstract: An articulated mechanical arm includes a passive device designed to compensate for the effects of gravity on at least a first pivot connection which articulates a first member of the arm on a second member of the arm, and constitutes a first degree of freedom of the arm. The passive device includes a drive mechanism and at least one magnetic device. The drive mechanism is designed to transmit to the magnetic device any rotation of the second member relative to the first pivot connection. The magnetic device is designed to produce torque further to the rotation of the second member. The drive mechanism and the magnetic device are also designed such that the torque is retransmitted by the drive mechanism to the first pivot connection, such that the retransmitted torque cancels the moment of force caused by gravity exerted on the articulated mechanical arm, relative to the first pivot connection.

Abstract: A pipe handling apparatus has a frame, a boom pivotally connected to the frame so as to be movable between a first position and a second position, an arm extending outwardly of the boom when the boom is in the second position, a gripper affixed to the end of the arm opposite the boom, a first line having a first end affixed to the boom, a second line interconnected to an opposite end of the first line and connected to the frame, and an actuator interconnected to the first and second lines. The actuator changes an angular relationship of the first and second lines so as to selectively tension the lines. The second line includes a first cable offset from linear alignment with the first line and a second cable extending in angular relationship with the first cable.

Abstract: A mechanical arm assembly comprises an arm rotatable about a pivot, a first force generating device for maintaining the arm at a datum, and a second force generating device for compensating for the first generating device to maintain the arm in positions other than the datum.

Abstract: The invention relates to a pipe handling apparatus that delivers and positions tubulars at a wellhead and a device for assisting pivotal movement of a boom relative to a base of the apparatus. A pneumatic spring assembly is pivotally connected between the boom and base. During operation, the pneumatic spring assembly urges the boom from a first position to a second position and resists movement of the boom from the second position to the first position. A pneumatic reservoir may be attached to the pipe handling apparatus. A gas-charging assembly fluidically connects the pneumatic spring assembly and pneumatic reservoir and allows the pneumatic reservoir to vary the pneumatic pressure within the pneumatic spring assembly. Sensors mounted in the pipe handling apparatus may provide feedback to a controller which may automatically adjust the amount of pneumatic pressure within the pneumatic springs for ideal performance of the springs.

Abstract: A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.

Abstract: A crane tool includes: a hook portion for hanging a work, attached to one arm section in a first robot arm having a base, a plurality of arm sections connected to the base in series, and a plurality of joints adapted to swing the arm sections, respectively, the crane tool; a counterweight portion; and a joint portion connecting the hook portion to the counterweight portion. The counterweight portion is located such that a joint swinging the arm section to which the hook portion is attached is interposed between the hook portion and the counterweight portion in substantially a horizontal direction.

Abstract: Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base and spine such that it may be deflectably elevated and rolled relative to the base simultaneously and independently. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

Abstract: The present invention discloses a weight compensation mechanism installed at a rotatable three-degree-of-freedom link member, wherein a first rotation of the link member is a yaw rotation aligned with the direction of the gravity and second and third rotations of the link member are respectively a roll rotation and a pitch rotation, wherein the second and third rotations are restrained by a plurality of differential bevel gears, and wherein a pair of cam plates is fixed to shafts of a pair of rotary bevel gears in the plurality of differential bevel gears, and a one-degree-of-freedom weight compensator is provided to be connected to the cam plates.

Abstract: This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. A manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts.

Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

Abstract: Systems and methods as described for providing visual telepresence to an operator of a remotely controlled robot. The robot includes both video cameras and pose sensors. The system can also comprise a head-tracking sensor to monitor the orientation of the operator's head. These signals can be used to aim the video cameras. The controller receives both the video signals and the pose sensor signals from the robot, and optionally receives head-tracking signals from the head-tracking sensor. The controller stitches together the various video signals to form a composite video signal that maps to a robot view. The controller renders an image to a display from that portion of the composite video signal that maps to an operator view. The relationship of the operator view to the robot view is varied according to the signals from the pose sensors and the head-tracking sensor.

Abstract: A load handling system includes a load movement assembly, a lift cylinder, a load holding member, a release control member, a load movement assembly control device, and a load sensing device. The load sensing device includes a housing having a first port and a second port, and a piston movable between the first and second ports, the first port fluidly connectable to the lift cylinder and the second port fluidly connectable to a source of fluid at a third pressure. The piston is operatively connected to the release control member. When the lift cylinder is at the second pressure the piston is driven to a first position which permits the release control member to be actuated to release the load. When the lift cylinder is at the first pressure the piston is driven to a second position which prevents the release control member to be actuated to release the load.

Abstract: A pre-loading system for a pipe handling apparatus in which a boom is pivotally mounted at one end to a skid and in which an arm is connected to an opposite end of the boom. The pre-loading system has a tensioning assembly with one end affixed to the arm and an opposite end fixedly mounted so as to apply tension to the arm when the arm has a load applied to an end of the arm opposite the boom. The tensioning assembly includes a first cable assembly having one end connected to the arm and an opposite end fixedly mounted, and a second cable assembly connected to the arm and having an opposite end fixedly mounted. The first and second cable assemblies extend from opposite sides of the arm.

Abstract: Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. A robot chassis with pivotable driven flippers has a pivotable neck and sensor head mounted toward the front of the chassis. The neck is pivoted forward to shift the vehicle combined center of gravity (combined CG) forward for various climbing and navigation tasks. The flippers may also be selectively moved to reposition the center of gravity. Various weight distributions allow different CG shifting capabilities.

Abstract: Disclosed herein are systems and methods that may compensate for the effect of gravity on certain haptic devices, such as haptic-robot devices. An example embodiment of the disclosed systems and methods may take the form of a gravity-compensation system that includes (a) a carriage coupled to a rod having a first axis, wherein the carriage is configured to move along the first axis, (b) a displacement mechanism coupled to the carriage, wherein the displacement mechanism is configured to move the carriage along the first axis of the rod based on a displacement of an extendable arm along the first axis, and (c) a restorative-force mechanism configured to exert, on the carriage, a restorative force that acts along a second axis. The gravity-compensation system acts in a primarily passive manner, helping to ensure the safety of users at the point of human-robot interaction (pHRI).

Abstract: The invention relates to a manipulator (1) comprising a plurality of members (12, 14) connected to each other by joints (A1-A6) that can be adjusted by drives (M1-M6), and a counterweight device (15) associated with one of the joints (A1-A6) and comprising a rod (19) coupled to a first member (12) connected to the joint (A1-A6) on one side and connected to a spring device (26) supported on a seat (25) on the other side, said seat being coupled to a second member (14) connected to the joint (A1-A6) by means of at least one bearing arrangement (18), comprising a first bearing component (17) and a second bearing component (16) connected to the second member (14). The seat (25) is connected to the first bearing component (17) by means of at least one cantilevered arm (23, 24).

Abstract: An apparatus for a pipe handling apparatus has a main rotating structural member rotating about a pivot axis relative to a skid and moving from a first position to a second position. A tensioning mechanism is affixed to the main rotating structural member. The tensioning mechanism applies a tension to the main rotating structural member when the main rotating structural member is in the second position. The tensioning mechanism has a first cable having an end attached adjacent a top of the main rotating structural member, and a second cable having an end attached adjacent the top of the main rotating structural member. The first and second cables have opposite ends attached to a fixed surface. The first and second cables extend angularly outwardly from a front of the main rotating structural member. The first and second cables extend angularly outwardly from the sides of the main rotating structural member.

Abstract: Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.

Abstract: Disclosed herein is a weight compensation mechanism. A weight compensation mechanism is installed in a link member rotatable in a plurality of directions. The weight compensation mechanism includes a plurality of bevel gears that rotates in harmony with the rotation of the link member. Cam plates are connected to one or more of the bevel gears to be rotated together with the bevel gears. Weight offsetting parts are connected to the cam plates, respectively, and each of the weight offsetting parts compresses an elastic member based on the rotation of the link member and the cam plate to absorb gravitation generated by the weight of the link member.

Abstract: A pipe handling apparatus for moving a pipe from a stowed position to a position deployed above a wellhead has a main rotating structural member pivotally movable between a first position and a second position, an arm interconnected to the main rotating structural member, a gripper affixed to an end of the arm opposite the main rotating structural member, and a tensioner connected to the gripper for applying a tension to the gripper when the arm is in the extended position. The gripper grips a surface of a pipe. The arm is pivotable between a home position and an extended position. The tensioning means has a guy wire connected at one end to the gripper. The guy wire has an opposite end connected to the arm. Alternatively, the opposite end is connected to the main rotating structural member.

Abstract: A parallel-type displacement device having at least three arms each pivoting about a pivot axis, the pivot axes defining a polygon as seen from a point above the device, wherein each of the arms is actuated by an actuator and each of the arms is further connected to a head defining a small base through linking members respectively articulated on the head and the arm, each said arm and its respective head forming a hinge having two degrees of freedom such that the head always maintains its position and orientation, and in which in a neutral position, each arm is arranged so that, if drawing from the geometrical center of the polygon a straight line that is parallel to the pivot axis of any one of the arms, the straight line intersects that arm.

Abstract: The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.

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

Abstract: A robot control system includes a storage unit which stores a sequence command described by one or plural commands, a processing unit having an execution unit which carries out execution processing of the sequence command, and a robot control unit which controls a robot based on a result of processing by the processing unit. The storage unit stores plural normal operation sequence commands, and plural error processing operation sequence commands which have the same command system as the normal operation sequence commands. The execution unit, at the time of normal operation, executes the normal operation sequence commands, and at the time of error occurrence, executes an error processing operation sequence command corresponding to an error status.

Abstract: A palletizing robot includes at least one rotatable pallet; a crane comprising a rotary base, a lifting frame fixed on the rotary base, and an extensible mechanical hand slidably engaged to the lifting frame to grasp a good; and a controller. The controller controls the crane and the at least one rotatable pallet to cooperatively stack the goods on the rotatable pallet, and control the at least one rotatable pallet to rotate itself to package the stacked goods.

Abstract: A method of operating a mobile robot that includes driving the robot according to a drive direction, determining a driven path of the robot from an origin, and displaying a drive view on a remote operator control unit in communication with the robot. The drive view shows a driven path of the robot from the origin. The method further includes obtaining global positioning coordinates of a current location of the robot and displaying a map in the drive view using the global positioning coordinates. The driven path of the robot is displayed on the map.

Abstract: A counterbalance mechanism counterbalances an eccentric mass on a rotating shaft supported by a frame. A first pulley is coupled to and concentric with the shaft. An arm is coupled to the shaft to rotatably support a second at a first distance from the first pulley. A third pulley is fixedly coupled to the frame at a second distance from the first pulley. A fourth pulley is rotatably coupled to and concentric with the third pulley. A spring is fixed at a first end to the frame and has a second end that is coupled to the fourth pulley such that the spring provides a restoring force as the fourth pulley is rotated. A first cable has a first end that is coupled to the fourth pulley and a second end that is coupled to the frame through the third pulley after passing over the first and second pulleys.

Abstract: A pre-loading system for a pipe handling apparatus in which a boom is pivotally mounted at one end to a skid and in which an arm is connected to an opposite end of the boom. The pre-loading system has a tensioning assembly with one end affixed to the arm and an opposite end fixedly mounted so as to apply tension to the arm when the arm has a load applied to an end of the arm opposite the boom. The tensioning assembly includes a first cable assembly having one end connected to the arm and an opposite end fixedly mounted, and a second cable assembly connected to the arm and having an opposite end fixedly mounted. The first and second cable assemblies extend from opposite sides of the arm.

Abstract: A pipe handling apparatus has a frame, a boom pivotally connected to the frame so as to be movable between a first position and a second position, an arm extending outwardly of the boom when the boom is in the second position, a gripper affixed to the end of the arm opposite the boom, a first line having a first end affixed to the boom, a second line interconnected to an opposite end of the first line and connected to the frame, and an actuator interconnected to the first and second lines. The actuator changes an angular relationship of the first and second lines so as to selectively tension the lines. The second line includes a first cable offset from linear alignment with the first line and a second cable extending in angular relationship with the first cable.

Abstract: An apparatus for pivoting a boom relative to a frame of a pipe handling system between a first position and a second position has a hydraulic actuator assembly connected to the boom and to the skid, and a pneumatic spring connected to the boom and to the skid. The pneumatic spring has a cylinder with an end pivotally connected to the boom, and a piston with an end pivotally connected to the skid. The hydraulic actuator assembly has a cylinder pivotally connected to the skid, and a piston with an end pivotally connected to the boom. The pneumatic spring urges the boom from the first position toward the second position while resisting movement of the boom from the second position toward the second position.

Abstract: A delta robot comprising a stationary base and a movable platform that is connected to the base with three chains of links, and comprising a balancing system incorporating at least one pantograph for balancing the robot's center of mass, wherein the at least one pantograph has a first free extremity at which it supports a countermass which is arranged to balance the center of mass of the robot.

Abstract: The present disclosure introduces modular apparatuses for mechanical devices. In one embodiment, a chain joint is described. The chain joint may include a rotating drum having an attachment point. Further, the chain joint may also include hydraulic cylinders connected to the rotating drum. Lengths of chain may be used to connect the hydraulic cylinders to the rotating drum via the attachment point. Another embodiment describes a robotic apparatus incorporating the chain joint. Other embodiments are also described.

Abstract: Systems and methods as described for providing visual telepresence to an operator of a remotely controlled robot. The robot includes both video cameras and pose sensors. The system can also comprise a head-tracking sensor to monitor the orientation of the operator's head. These signals can be used to aim the video cameras. The controller receives both the video signals and the pose sensor signals from the robot, and optionally receives head-tracking signals from the head-tracking sensor. The controller stitches together the various video signals to form a composite video signal that maps to a robot view. The controller renders an image to a display from that portion of the composite video signal that maps to an operator view. The relationship of the operator view to the robot view is varied according to the signals from the pose sensors and the head-tracking sensor.

Abstract: A brick laying system where an operator such as a mason works proximate a moveable platform having a robotic arm assembly, a mortar applicator with a mortar transfer device, and a brick transfer device to build structures. The robotically assisted brick laying system may also contain a stabilizer having a disturbance sensing and a disturbance correcting component that provides compensation for disturbances caused by load shifting, movement of the platform, wind, operator movement, and the like. In addition, the robotically assisted brick laying system has a sensing and positioning component for controlling placement of the moveable platform and robotic arm assembly. The interoperability of the system with a mason or skilled operator removes much of the manual labor component of brick laying, allowing the mason more time to focus on craftsmanship and quality, thus improving the end product and the overall working conditions of the mason.

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

Abstract: An inexpensive unmanned mobile sensor and data collection rolling rover (“rollver) for exploring remote, inaccessible locations, such as deep craters and canyons, includes a hollow enclosure having a flexible wall that is expandable into the shape of a sphere, an apparatus for selectably expanding the wall of the enclosure, a sensor and instrumentation payload disposed within the enclosure and coupled to an inner surface of the wall of the enclosure, and a power supply for powering the payload at its destination. The rollver is adapted to roll to a target destination at least partially in response to at least one of an initial impetus imparted to the vehicle and gravitational forces acting thereon, and due to its relatively low cost, can be simultaneously deployed and used in an area of interest in relatively large numbers.

Abstract: There is provided a joint mechanism constituted by a base 1, a turning base 4 provided above the base and rotated, and an arm 6 a lower end portion is pivotably supported by the turning base, in which a speed reducer 2 for rotating the turning base is provided at inside of the base, a counterbalance system 10 constituted by a cylinder 7 pivotably supported above the turning base and filled with a lubricant, a piston 8 provided in a hermetically sealed state slidably in a longitudinal direction at inside of the cylinder, and a piston rod 9 one end portion of which is connected to the piston and other end portion of which is connected to the arm 6 is provided, the speed reducer and the cylinder of the counterbalance system are connected and a lubricant of the speed reducer is introduced into the cylinder.

Abstract: A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.

Abstract: The present invention comprises an apparatus and method for centering a substrate in a process chamber. In one embodiment, the apparatus comprises a substrate support having a support surface adapted to receive the placement of a substrate and a reference axis substantially perpendicular to the support surface, and a plurality of centering members extending above the support surface. Each centering member is biased into a first position and is movable to a second position by interacting with an opposing member. A movement between the first position and the second position thereby causes each centering member to releasably engage with a peripheral edge of the substrate to push the substrate in a direction toward the reference axis.

Abstract: The present invention provides a surgical manipulator which is capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a haptic interface and an associated position sensing system. A controller is provided that can be used to adjust movement information from the haptic interface based on the relative orientations of the manipulator and the haptic interface.

Abstract: There is provided a mechanical arm assembly comprising: an arm rotatable about a pivot, a first force generating device for maintaining the arm at a datum, a second force generating device for compensating for the first generating device to maintain the arm in positions other than the datum.

Abstract: A system and method is disclosed for predicting a fall of a robot having at least two legs. A learned representation, such as a decision list, generated by a supervised learning algorithm is received. This learned representation may have been generated based on trajectories of a simulated robot when various forces are applied to the simulated robot. The learned representation takes as inputs a plurality of features of the robot and outputs a classification indicating whether the current state of the robot is balanced or falling. A plurality of features of the current state of the robot, such as the height of the center of mass of the robot, are determined based on current values of a joint angle or joint velocity of the robot. The current state of the robot is classified as being either balanced or falling by evaluating the learned representation with the plurality of features of the current state of the robot.

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

Abstract: A mechanical arm comprises a forearm, a spring, and an upper arm disposed between the forearm and the spring, wherein the forearm applies a moment to the upper arm. A copying device associated with the upper arm copies a force associated with the moment to the spring. The spring is adapted to apply a counter-force resisting at least a portion of the moment to reduce a torque for urging the forearm.

Abstract: An apparatus and method of optimally correcting a static deflection caused by a weight of an end effector coupled to a robot arm or a load on the end effector when the end effector is activated to handle a large sheet of glass. A deflection angle of the end effector is corrected by inserting a compensation member into a joint of the robot arm, and the static deflection caused by the weight of the handling robot when conveying the sheet of glass is also corrected in real time.