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Joint between elements

Subclass of:

074 - Machine element or mechanism

074469000 - CONTROL LEVER AND LINKAGE SYSTEMS

074479010 - Multiple controlling elements for single controlled element

074490010 - Robotic arm

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Class / Patent application numberDescriptionNumber of patent applications / Date published
074490060 Wrist 30
Entries
DocumentTitleDate
20130025399ROBOT AND METHOD FOR MANUFACTURING THE SAME - A robot according to an aspect of an embodiment includes: an articulated arm; and a speed reducer that is provided in a joint of the articulated arm. The articulated arm performs a multi-axis operation. The speed reducer has rigidity for which an acquisition value obtained by acquiring a deflection amount of a predetermined representative position at the articulated arm for each dimension of a three-dimensional coordinate system is not more than a threshold corresponding to a target precision of the articulated arm.01-31-2013
20130081503ROBOT ARM ASSEMBLY - A robot arm assembly includes a first arm, a second arm and a third arm. The first arm includes a main body, a pivotal portion perpendicularly connected to the main body, a first transmission mechanism and a first reducer. The second arm includes a fixing portion, a second transmission mechanism, a first connecting portion and a second connecting portion extending from opposite ends of the fixing portion. The first connecting portion and the second connecting portion are connected to opposite ends of the pivotal portion, the second transmission mechanism is connected to the first transmission mechanism. The third arm includes an output flange, a second reducer connected to the output flange and a transmission bevel gear. The transmission bevel gear is fixed to the input end and engages with the second transmission mechanism.04-04-2013
20100116080ROBOTIC LINKAGE - Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.05-13-2010
20100116082Multiaxis Counterbalance and Positioning System Using a Spatial Linkage - 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.05-13-2010
20100116079BIDIRECTIONAL TENDON TERMINATOR - A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.05-13-2010
20130074637One-Degree-Of-Freedom Link Device, A Robot Arm Using The Same And A Surgical Robot Comprising The Same - The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.03-28-2013
20090173178JOINT DRIVING DEVICE - A first elastic body actuator and a second elastic body actuator are used for driving a first configuration member and a second configuration member to swing them with respect to each other. One end portion of the first elastic body actuator is secured to the first configuration member and the other end portion of the first elastic body actuator is secured to the second configuration member, and one end portion of the second elastic body actuator is secured to the first configuration member and the other end portion of the second elastic body actuator is secured to the second configuration member, such that the position at which the other end portion of the second elastic body actuator is secured to the second configuration member and the position at which the one end portion of the first elastic body actuator is secured to the second configuration member are substantially symmetric about a rotational joint. The interval between the portion of the first elastic body actuator, which is secured to the second configuration member, and the portion of the second elastic body actuator, which is secured to the second configuration member, is moved by a securing-position variable mechanism.07-09-2009
20120204671ANALYTIC INTEGRATION OF TOLERANCES IN DESIGNING PRECISION INTERFACES FOR MODULAR ROBOTICS - A robotic system providing precision interfaces between a rotary actuator and a robotic structure. The robotic structure responsive to control by a rotary actuator via a connection means whereby interface design parameters are relayed to the rotary actuator. The rotary actuator for controlling the robotic structure includes an actuator shell, an eccentric cage and a primer mover portion, rigidly attached to the eccentric cage and capable of exerting a torque on a first prime mover. A cross-roller is also included having a first bearing portion rigidly fixed to the actuator shell and a second bearing portion, an output attachment plate attached to a second bearing portion, a shell gear rigidly attached to the actuator shell, an output gear attached to the output attachment plate and an eccentric gear attached to the eccentric cage.08-16-2012
20090044655Defense Related Robotic Systems - A robot quick-release assembly has a first joint member and a robot component mounted thereon, the first joint member has a first coupler and a second joint member, a robot arm mounted thereon, has a second coupler, a clamp, and a locking collar. The first coupler can be coaxially aligned with the second coupler and pressed into the second joint member, and detachably connected to the second joint member. The first mechanical coupler is detachably connected to the second mechanical coupler for transferring power across the quick-release assembly. The robot component can receive an additional electrical connector, the additional electrical connector supplying power to the robot component. The quick-release assembly coupling assembly further exerts large forces with the application of a relatively small torque to the locking collar by applying a two stage wedge engagement and can further include a sequencing system.02-19-2009
20100005920Geometric End Effector System - A geometric end effector system for use on a robot. The system includes a platform and a frame secured to the platform. At least one base is arranged at a predetermined position on the frame. The system also has an anchor mount secured to the base and a component connected to an end of the anchor mount by a collar assembly. A key is arranged between the component and the anchor mount.01-14-2010
20100005919DEVICE FOR DISPLACING AND POSITIONING AN OBJECT IN SPACE - The invention relates to a device for displacing and positioning an object in a space, having at least three actuating arms that can pivot about a transmission axis. Each arm is connected to a motor unit/transmission unit. A carrier element is provided in order to arrange at least one gripping element for gripping the object. Each actuating arm, on the free ends thereof, has a first articulated axis that is parallel to the transmission axis with first articulated parts arranged at a distance from each other, of a first ball joint. The carrier element has a second articulated axis associated with each actuating arm with first articulated parts that are arranged at a distance in relation to each other, of a second ball joint. The first articulated axis is connected to the second articulated axis by a pair of connecting bars which include terminal second articulated parts. The terminal second articulated parts of the connecting bars form the first and second ball joints with the first articulated parts on the first articulated axis and the first articulated parts on the second articulated axis. The connecting bars for stabilizing the ball joints are connected together. According to the invention, the connecting bars are made of an essentially elastic material and are connected together by at least one prestressing element made of an essentially stiff material.01-14-2010
20090095112Link Assembly With Defined Boundaries For A Snake Like Robot Arm - In a “tip following” robotic arm, the apertures through which control cables pass are arranged to ensure that the cables are maintained in contact with at least a part of the aperture, leading to a more stable and controllable arrangement.04-16-2009
20130068061DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM, AND ROBOT ARM PROVIDED WITH DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM - A robot arm (03-21-2013
20130068060FLEXSPLINE PROTECTIVE STRUCTURE AND ROBOT ARM MECHANISM USING SAME - A flexspline protective structure includes a first rotation member, a second rotation member and a plurality of fixing members. The second rotation member is sleeved on the first rotation member. The plurality of fixing members fix the first rotation member and the second rotation member together and are capable of breaking off in the event of jamming or other mischance to enable the second rotation member to rotate freely relative to the first rotation member. The disclosure presents a robot arm mechanism equipped with the flexspline protective structure.03-21-2013
20130061709MANIPULATOR WITH WEIGHT COMPENSATION MECHANISM AND FACE ROBOT USING THE SAME - 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.03-14-2013
20130061710BALL JOINT MECHANISM, KINEMATIC CHAIN AND PARALLEL ROBOT - A ball joint mechanism includes a ball joint member, a ball socket member and a plurality of elastic assemblies. The ball joint member has a head portion. The ball socket member defines a spherical engaging socket and a plurality of mounting holes communicating with the spherical engaging socket. The head portion of the ball joint member is assembled into and pivotally engages with the corresponding spherical engaging socket of the ball socket member. The plurality of elastic assemblies are assembled within the mounting holes of the ball socket member, respectively, and elastically resist against a periphery of the ball joint member. One or more kinematic chains and a parallel robot using the ball joint mechanism are also provided.03-14-2013
20080295637PARALLEL MANIPULATOR - A manipulator for supporting and displacing an object comprises a base. A moving portion supports the object. Two articulated mechanisms each having five rotational joints between links, with each articulated mechanism being connected to the base by two of the rotational joints. The moving portion is connected to both the articulated mechanisms by moving-portion joints. The articulated mechanisms and moving-portion joints are arranged with respect to each other between the base and the moving portion so as to constrain movement of the moving portion to displacements in two translational degrees of freedom and two rotational degrees of freedom with respect to the base. Four actuators are each operatively connected to a different one of the rotational joints between the base and the articulated mechanisms so as to selectively control the displacements of the moving portion in any one of the four degrees of freedom of the moving portion.12-04-2008
20130125695GEAR TRANSMISSION DEVICE AND ROBOT ARM USING THE SAME - A gear transmission device includes a transmission mechanism, and a gear backlash adjusting mechanism engaged with the transmission mechanism. The transmission mechanism includes a first adjusting gear and a second adjusting gear meshing together. The adjusting mechanism includes a fixing plate and an adjusting member sleeved on the first adjusting gear. The fixing plate defines a limiting hole. The adjusting member comprises a flange received in the limiting hole. A maximum distance from an edge of the flange near the second adjusting gear to the rotation shaft of the first adjusting gear is greater than a minimum distance from an end of the flange away from the second adjusting gear to the rotation shaft of the first adjusting gear.05-23-2013
20120266712ROBOT - This robot includes an arm and a joint provided on one end portion of the arm, and either the arm or the joint is provided with an end effector driving source to operate an end effector mounted to the arm through the joint.10-25-2012
20100037721PARALLEL MECHANISM - An end effecter is positioned with high precision by stabilizing its attitude. Included are arms each having a pair of rods arranged in parallel, a bracket having the end effecter attached thereto and retained by the pair of rods, ball joints and each including a first joint element having a ball and displaceably connecting the bracket with the arm and a second joint element having a socket for retaining the ball, a connecting member for connecting the pair of parallel rods together and restricting rotation of the rods about an axis that is parallel to the longitudinal direction thereof, and a biasing member for providing a biasing force for retaining the ball in the socket.02-18-2010
20110126660FORCE LIMITING DEVICE AND METHOD - The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.06-02-2011
20110048159TWO DEGREE-OF-FREEDOM PARALLEL MANIPULATOR - The invention refers to a two degree-of-freedom parallel manipulator that comprises a frame (03-03-2011
20110271786MECHANICAL JOINT - A mechanical joint includes a first axial bracket, a first bearing, a second bearing, a sleeve, a second axial bracket, and an anti jamming mechanism. The first axial bracket includes a rotary shaft. The first bearing, the second bearing, and the sleeve sleeve on the rotary shaft of the first axial bracket in turn, the sleeve being sandwiched between the first and second bearings. The second axial bracket is rotatably assembled to the first axial bracket via the first and second bearings. The anti jamming mechanism is resiliently assembled within the second axial bracket and sleeves on the sleeve. One end of the anti jamming mechanism resists the second axial bracket and the opposite second bearing.11-10-2011
20090095111Articulated Robot - An multi-joint robot (04-16-2009
20080276746Surgical robotic system - A surgical robotic system comprising a robotic arm, an end effector movably connected thereto and provided with a movable end effector element driven by an actuator, and a force sensor arranged between the robotic arm and the end effector. The actuator is formed by a hydraulic cylinder. The robotic arm is provided with a hydraulic line connected to said hydraulic cylinder of the end effector.11-13-2008
20090282944Humanoid robot and shoulder joint assembly thereof - A humanoid robot to naturally imitate various motions and gestures of humans and a shoulder joint assembly thereof is disclosed. The humanoid robot includes a first shoulder joint device disposed between a body and an arm of the robot, to move the arm. The entire first shoulder joint device is movable relative to the body. For this, a second shoulder joint device may be installed between the body and the first shoulder joint device to move the first shoulder joint device.11-19-2009
20080289443Industrial Robot - A joint of an industrial robot that includes attaching part (11-27-2008
20130213172MANIPULATOR SYSTEM - From a desired wrist joint position and a desired elbow rotation angle, a temporary elbow joint position is calculated on the assumption that a distance between a shoulder joint and an elbow joint is fixed. The shoulder joint has a first axis, a second axis, and a third axis, and the elbow joint has a fourth axis. From the calculated temporary elbow joint position, temporary angles of the first and second axes or temporary angles of the first to fourth axes are determined. The temporary angles are corrected in accordance with at least one evaluation function calculated from the temporary angles.08-22-2013
20130213171SUBSTRATE TRANSFER APPARATUS - A substrate transfer apparatus has a plurality of arms which rotate on different shafts. A first driver rotates the first arm, a second driver rotates a second arm coupled to the first arm, a third driver rotates a third arm coupled to the second arm, and a fourth arm rotates with rotation of the third arm and is coupled to the third arm. The drivers control rotation of the arms to perform different operations in transferring the substrate between different processing locations.08-22-2013
20100139437ROBOTIC DEVICE - A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.06-10-2010
20120137816CLOSED-CHAIN ROTATIONAL MECHANISM HAVING DECOUPLED AND HOMOKINETIC ACTUATION - The invention concerns a mechanism having the necessary conditions in order that the rotational motion of a body can be actuated in a decoupled and homokinetic way by motors (M06-07-2012
20090260473Jointed Limb Comprising Fibres, and Jointed Structure and Robot or Haptic Interface Comprising Such a Jointed Limb - The primary object of the present invention is a jointed and instrumented limb for robot or haptic interface comprising at least first (10-22-2009
20090260472LEGGED ROBOT - A legged robot is provided whose trunk link is not prone to wobble in the front-back direction during walking. The legged robot is equipped with a trunk link and a pair of legs. Each leg has a pitch joint capable of rotating the connected links in a plane that intersects with a line extending in a lateral direction of the robot. Rotation centers of the pitch joints are located above a center of gravity of the trunk link. The legged robot walks mainly by swinging the legs backward and forward around such rotation centers. Hence, the trunk link wobbles mainly in the front-back direction around the rotation centers as the robot walks. Because the center of gravity of the trunk link is located below the rotation centers, the gravitational force acting on the trunk link acts in a direction to suppress swinging of the trunk link during walking. Due to this, the trunk link of the legged robot is not prone to wobble in the front-back direction during walking.10-22-2009
20100263470Multiaxial Joint, Particularly for Robotics - The present invention relates to a multi-axial joint (10-21-2010
20100154579JOINT MECHANISM - There is provided a joint mechanism capable of restraining a rise in a temperature of a lubricant of a speed reducer, bringing the speed reducer into a stable operating state and preventing early destruction of the speed reducer.06-24-2010
20100154580HUB ASSEMBLY FOR ROBOTIC ARM HAVING PIN SPACERS - A robotic hub assembly is provided which comprises a spacer configuration (06-24-2010
20120103126JOINT MECHANISM FOR ROBOT - A joint mechanism is for a robot. The joint mechanism includes a base; a first drive device mounted on the base including a first drive shaft; a second drive device including a second drive shaft; a joint body defining a plurality of toothed grooves and a guiding groove. A sliding board mounted on first drive shaft, the sliding board slidably located in the guiding groove to guide the joint body to swing relative to the base. A gear mounted on the second drive shaft, the gear meshes with the toothed grooves; a limiting assembly for rotatably mounting the joint body on the base. When the first drive device is started, the first drive shaft is rotated to drive the joint body rotating around the first drive shaft; when the second drive device is started, the second drive shaft is rotated to drive the gear rotating so the joint body swings relative to the base.05-03-2012
20100175496Robot - Disclosed herein is a robot, which is capable of communicating according to a gesture. The robot includes a plurality of link members, and an outer cover member surrounding the plurality of link members. The shape of the outer cover member is varied into a curved shape, when the outer cover member is adhered closely to the plurality of link members, according to the variation of the shapes of the plurality of link members.07-15-2010
20100192719DEVICE FOR GENERATING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME - The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.08-05-2010
20100224023SUPPORT ARM AND INDUSTRIAL ROBOT USING THE SAME - A support arm used in an industrial robot includes a first joint portion, a second joint portion, and a connecting portion between the first and second joint portions. The connecting portion includes a plurality of connecting walls. The plurality of connecting walls and the first and second joint portions cooperatively define a cavity. One of the connecting walls defines an opening communicating with the cavity and forms a plurality of reinforced ribs extending from the periphery of the opening towards the cavity of the support arm.09-09-2010
20100236352TENSION DETECTION MECHANISM AND MANIPULATOR USING THE SAME - A tension detection mechanism includes a linear member which extends in a longitudinal direction, and which is configured to transmits power, a restraining member including a restraining portion through which the linear member extends and which is configured to restrain movement of the linear member in the longitudinal direction partially, and a detection member which is provided to the restraining member and which is configured to detect tension of the linear member. A length of a portion of the linear member restrained by the restraining portion is larger than a distance between two ends of the restraining member in the longitudinal direction of the linear member.09-23-2010
20100101357TRANSFER ROBOT - A transfer robot that is safe and produced at low cost is provided. A transfer robot (04-29-2010
20100199797TRANSFER ROBOT, TRANSFER METHOD, AND CONTROL METHOD - A transfer robot includes a hand section on which an object is placed; a horizontal arm mechanism connected to the hand section, the horizontal arm mechanism including at least two rotary joints, the horizontal arm mechanism extending and contracting so as to move the hand section along one direction, the horizontal arm mechanism being disposed so as to face in an axial direction; and a lift mechanism including a link mechanism that moves the horizontal arm mechanism up and down, wherein the lift mechanism includes at least two sets of link mechanisms disposed on a base member, and wherein the horizontal arm mechanism is disposed between parts of the lift mechanism when the horizontal arm mechanism is moved to a lowest position.08-12-2010
20100000365LEGGED ROBOT - A legged robot that ensures a large step length while keeping the height of the trunk low is realized. The legged robot is provided with a trunk, a pair of legs, and a pair of sliding joints. Each of the sliding joints links one end of each of the legs to the trunk so as to slide in a front and rear direction with respect to the trunk. For each step, one leg is caused to slide forward, and the other leg is caused to slide backward. It is possible to ensure a predetermined distance between the end portion of the one leg and the end portion of the other leg. The legged robot can make the step length large by an amount that is equivalent to this distance irrespective of the length of the legs.01-07-2010
20090114054FINGER UNIT FOR ROBOT HAND AND METHOD OF ASSEMBLING THE SAME - A multi-joint finger unit (05-07-2009
20090071282Joint Structure of Robot - A joint structure of a robot performs a longitudinal swing motion and a lateral swing motion of a hand (03-19-2009
20110126661INDUSTRIAL ROBOT - An industrial robot includes a joint, a first arm rotatably connected to the joint about a first rotation axis and defining a hollow portion extending along the first rotation axis, a second arm rotatably connected to the first arm about a second rotation axis, a third arm rotatably connected to the second arm about a third rotation axis, a first driver and a first transmission mechanism to drive the first arm, a second driver and a second transmission mechanism to drive the second arm, and a third driver and a third transmission mechanism to drive the third arm. The first, second and third drivers are mounted on the joint. The second transmission mechanism includes a first shaft rotatably received in the hollow portion, and the third transmission mechanism includes a second shaft sleeved on the first shaft.06-02-2011
20120240710CONVEYANCE ARM AND CONVEYANCE ROBOT WITH SAME - First and second parallel link mechanisms 09-27-2012
20090114053Arm part of an industrial robot as well as an industrial robot provided therewith - An arm part of a manipulator of an industrial robot has at each end thereof a connector for connecting the arm part to a gear and a stiffener for stiffening the end region of the arm part. At least one aperture is arranged in a hollow structure of the stiffener for providing access to connecting members.05-07-2009
20130152724Inflatable Robots, Robotic Components and Assemblies and Methods Including Same - A robotic joint assembly includes a first structural member, a second structural member, and a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members. The rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member. The first and second flexible hinge members cross one another between the first and second structural members.06-20-2013
20110067520ROBOTIC THUMB ASSEMBLY - An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.03-24-2011
20110174108ROBOTIC ARM - An elongate robotic arm comprising articulated segments and a channel that extends along the longitudinal axis of the arm and contains a stiffening member which includes a sensor for measuring the shape of the arm. Using the central channel for this purpose improves the ease and accuracy of shape measurement.07-21-2011
20110162477ROBOT - A robot forms a natural curved line through a thickness variation of an outer cover member such that a user feels friendly toward gestures expressed by the robot. The robot includes a plurality of link members, at least one joint hinge connecting the plurality of link members, and an outer cover member covering the plurality of link members and the at least one joint hinge, wherein, as the outer cover member gets close to the at least one joint hinge, the thickness of the outer cover member increases.07-07-2011
20110259137ROBOT ARM ASSEMBLY - A robot arm assembly includes a first robot arm and a second robot arm; the second robot arm is rotatably connected to the first robot arm. The first robot arm includes a first sleeve, a first input shaft, and a second input shaft. The first input shaft and the second input shaft are seated in the first sleeve. The second robot arm includes a second sleeve and an output shaft; the output shaft is received in the second sleeve. The first input shaft is connected to the second sleeve via a pair of bevel gears, and drives the second sleeve to swing relative to the first sleeve. The second input shaft is connected to the output shaft via a plurality of bevel gears meshing with each other, and drives the output shaft to rotate relative to the second sleeve.10-27-2011
20120198955ROBOT - A robot according to an embodiment includes a base, a first structure, a second structure, and a third structure. The first structure is connected to the base to be rotatable about a first axis. The second structure is connected to the first structure to be rotatable about a second axis orthogonal to the first axis. The third structure is connected to the second structure to be rotatable about a third axis parallel to the second axis. The first structure and the third structure are formed by using cast materials having a same shape.08-09-2012
20110107867BACKLASH ADJUSTMENT MECHANISM AND INDUSTRIAL ROBOT USING THE SAME - A backlash adjustment mechanism includes a first cylindrical gear fixed in an axial position, a second cylindrical gear moveable along the axis and meshed with the first cylindrical gear, and an elastic member biasing the second cylindrical gear towards the first cylindrical gear. The addendum modification coefficients in the first and second cylindrical gears are linearly changed along their axes, respectively, an end of the first cylindrical gear with higher addendum modification coefficient meshes with an end of the second cylindrical gear with correspondingly lower addendum modification coefficient, and an end of the first cylindrical gear with lower addendum modification coefficient meshes with an end of the second cylindrical gear with correspondingly higher addendum modification coefficient.05-12-2011
20110132130MANIPULATOR AND ASSEMBLY METHOD THEREOF - A manipulator includes a first arm, a second arm, a joint assembly, and many connecting members. The first arm defines a first axle hole. The second arm defines a second axle hole and two openings adjacent to the second axle hole. The joint assembly is received in the first arm and rotatably joins the first arm and the second arm. Each of the connecting members includes a head portion and a fixing portion. The head portion is received in the first arm. The fixing portion connects the second arm and the joint assembly.06-09-2011
20110132131ROBOT WITH CALIBRATION POSITION - A robot according to the present disclosure includes a support structure and at least three main arms mounted to be movable relative to the support structure, wherein the outer ends facing away from the support structure are movable to different spatial positions relative to the support structure and relative to each other. The robot further comprises connecting elements having the same lengths by means of which the outer end of each main arm can be connected at a defined distance from the outer end of the two adjacent main arms. The present disclosure also provides a method of calibrating a robot.06-09-2011
20100180709Robot - A robot rotates frontward, rearward, clockwise, or counterclockwise such that a display device is matched with the eye position of a user. The robot includes a body, a display device, and at least one bending device. The display device includes a recognition unit to rotate about the body according to the position of the user. The recognition unit detects a position of a user. The bending device couples the body with the display device such that the body and the display device rotate frontward, rearward, clockwise, or counterclockwise according to a detection state of the recognition unit.07-22-2010
20120137815SUPPORT MECHANISM AND ROBOT WITH THE SAME - A support mechanism for a robot includes a support member, and a fixing member. The fixing member is placed on the support member, and includes a V-shaped resilient clip with a fixing groove. A robot securely configured with the support mechanism is also provided when the robot is being transported or stowed when not in service.06-07-2012
20100180710Power supply unit for robot and robot having the same - Disclosed herein are a power supply unit for robots and a robot having the same. The power supply unit for robots supplies power to actuators installed within an arm, and includes a housing provided with at least two lines of bus bars in an inner reception space; and at least one power unit to branch off power transmitted to the bus bars through power supply lines.07-22-2010
20110185837HUMANOID ROBOT IMPLEMENTING A SPHERICAL HINGE WITH COUPLED ACTUATORS - The invention relates to a humanoid robot using a spherical joint with coupled actuators and a method using the spherical articulation. The invention is of particular utility in the production of humanoid robots coming closest to human anthropomorphism. The joint connects two elements of the robot. The joint is moved by three actuators of which a first joint and a second joint act in parallel and are coupled together, and of which a third actuator acts in series with the first two actuators about an axis. According to the invention, the axis of the third actuator is the axis of which the angular range of movement must be the greatest in order to come close to human anthropomorphism.08-04-2011
20110259138DELTA ROBOT HAVING SPECIAL ARRANGEMENT OF THE BALL JOINTS - A delta robot includes a stationary base plate and at least three drives fastened thereon, which are each connected to at least one arm, of which at least one drive is also connected at an opposite end relative to the arm to two rods by way of a ball joint. The rods run parallel to each other and are connected at one end, by way of an additional ball joint, to a movable parallel plate, in which each ball joint has a ball segment head and a hollow ball segment designed complementary thereto. The two ball joints, which adjoin each other on parallel rods, are oriented mirror-symmetrically to each other and each hollow ball segment is pressed onto the associated ball segment head by tensioning at least one permanently elastic element between two rods that are parallel to each other. The center point of at least one ball segment head is displaced relative to the longitudinal support axis of the rod, which is connected to the ball joint, with the direction of displacement pointing centrally away from the hollow ball segment and the amount of the displacement always being smaller than the radius of the spherical segment head.10-27-2011
20080216596THREE-AXIS ROBOTIC JOINT WITH HUMAN-BASED FORM FACTORS - A robotic joint configured as a 3-axis joint configured with a shoulder or other human joint form factor. The joint includes a first link made up of a block attaching to a torso and a stationary electric actuator assembly mounted to the block. A second link is connected to the first link to rotate about a first axis and be driven by the actuator assembly. A third link is attached to the second link to rotate about a second axis orthogonal to the first axis when the third link is driven by the actuator assembly. A fourth link is connected to the third link to rotate about a third axis orthogonal to the second axis when the fourth link is driven by the actuator assembly. The actuator assembly includes three electric motors with threaded drive capstans driving pulleys in the links while being spaced apart from the rotating links.09-11-2008
20100031767Compact Manipulation Robot - 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 centre 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.02-11-2010
20110113918TRANSLATIONAL BRANCH JOINT AND PARALLEL ROBOT UTILIZING THE SAME - An exemplary translational branch joint for a parallel robot includes a swing arm connected to a four-bar linkage. The four-bar linkage includes two parallel connecting bars, a first link member, a second link member, and joint members. The first link member and the second link member connect the connecting bars. Each joint member comprises a first joint portion and a second joint portion extending from the first joint portion. The first joint portion has a first axis, and the second joint portion has a second axis substantially perpendicular to the first axis. The first joint portions of the joint members are rotatably connected to ends of the first link member and the second link member, and the second joint portions of the joint members are rotatably connected to ends of the connecting bars.05-19-2011
20120118097Parallel Robot - The invention relates to an industrial robot having parallel kinematics, the industrial robot, comprising a robot base (05-17-2012
20110314950ROBOT - A robot includes an articulation mechanism that includes a pair of opposing bevel gears, a pair of motors that rotate the pair of opposing bevel gears independently of each other, an output bevel gear that is engaged with each of the pair of opposing bevel gears and is supported so as to be rotatable and so as to be swingable in rotational directions of the pair of opposing bevel gears, and an output body that is secured to the output bevel gear, a cover-and-support structure that is a supporting member and functions as a cover covering the outside of the entirety of the articulation mechanism, and a swing mechanism that supports the cover-and-support structure such that the cover-and-support structure is swingable in the rotational directions of the pair of opposing bevel gears.12-29-2011
20110154938ROBOT ARM ASSEMBLY - A robot arm assembly includes a first joint, a second joint and a flange. The second joint is rotatably connected to the first joint. The flange is fixed on the second joint. The first joint includes a rotary connecting portion located on an end of the first joint and a limiting portion adjacent to the rotary connecting portion. The flange defines a through hole in a middle portion of the flange and an open ring groove around the through hole. A curve of the open ring groove is less than 360°. The rotary connecting portion passes through and is received in the through hole. The limiting portion slides in the open ring groove.06-30-2011
20110154937ROBOT UTILIZING JOINT SEALS - A robot utilizing joint seals includes a first arm, a second arm, and a first seal member. The first arm has a first resisting portion. The second arm is joined with the first arm, and the second arm has a second resisting portion corresponding to the first resisting portion of the first arm. The first seal member is positioned between the first resisting portion and the second resisting portion; and the first seal member has surfaces contacting both the first resisting portion and the second resisting portion. The first seal member is of the same size and shape as the first resisting portion and the second resisting portion.06-30-2011
20100116081ROBOTIC LINKAGE - Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.05-13-2010
20120227532PARALLEL MECHANISM HAVING THREE-DIMENSIONAL TRANSLATIONS AND ONE-DIMENSIONAL ROTATION - A parallel mechanism with three-dimensional translation and one-dimensional rotation include a fixing rack, a mobile platform and four chains of the same structure which are symmetrically set between the fixing rack and the mobile platform. Each chain has a near rack rod and two parallel far rack rods. The mobile platform includes a main platform and an assistant platform connected by a revolute joint and perpendicular to each other. Each end of the main platform and the assistant platform is connected with a corresponding lower connecting shaft separately.09-13-2012
20100326227DEVICE FOR GENERATING STIFFNESS AND METHOD FOR CONTROLLING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME - The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.12-30-2010
20120266713ROBOT WITH ROTATION MECHANISM - A robot includes a base a movable platform, a plurality of control arms, a first actuator, a plurality of second actuators, and a rotation mechanism. The plurality of control arms are rotatably connected to the base and the movable platform respectively. The second actuators are configured to respectively drive the control arms to swing. The rotation mechanism includes a shaft rotated by the first actuator. The shaft is rotatable relative to the base and the movable platform is positioned around at least two axes. The at least two axes include two axes substantially perpendicular to each other. The shaft is slidable relative to the base.10-25-2012
20120266711COMPLIANT MECHANISM - A compliant mechanism includes a first unit, a second unit, at least one elastic member and a driver for driving the elastic member to rotate through a predetermined angle. The first and second units collectively define a passage about which the second unit is rotatable relative to the first unit. The elastic member has a plate and first and second shafts which are coaxially connected to two opposite ends of the plate respectively and rotatably connected with the first and second units respectively. The elastic member is rotatable about a co-axis of the first and second shafts and elastically deformable when the second unit rotates relative to the first unit. The elastic member can change its resistance to the rotation of the second unit by rotating; therefore the compliant mechanism has a great safety upon receiving load and is widely applicable in many fields.10-25-2012
20100242660Manipulator for remote activities in a nuclear reactor vessel - A manipulator for remotely controlled underwater operation in a nuclear radiation environment to perform service activities at difficult to access regions of the reactor vessel is disclosed. The manipulator includes six degrees of freedom in its ability to move so that it can get past obstructions inside a reactor vessel to access and service remote locations in the vessel. The manipulator also includes a rotary drive for inserting and removing the manipulator into and from a reactor vessel and for rotating the manipulator within the vessel. It also includes an arm with two rotary joints and three pivot joints that can be deployed for better access to difficult to reach locations. The manipulator, which is remotely operated, can be used to manipulate a variety of tools to perform various service activities. The tools, which are attached to the end of the arm, include a water jet, a gripper, a cutter and a camera.09-30-2010
20120079908PARALLEL ROBOT - A parallel robot includes a base, a movable platform, an actuator, and four control arms. The actuator is positioned on the movable platform. The control arms are interconnected between the base and the movable platform. Each control arm includes a driving member connected to the base, an action pole driven by the driving member, and a four-rod linkage assembly interconnected between the action pole and the movable platform. One end of the four-rod linkage assembly is connected to the action pole via a first rotary joint, and the other end of the four-rod linkage assembly is connected to the movable platform via a second rotary joint. An axis of the first rotary joint is substantially parallel to an axis of the second rotary joint.04-05-2012
20110265597ROBOT ARM ASSEMBLY - A robot arm assembly includes a support arm, a connecting arm, and an end arm. The support arm is rotatably assembled with the connecting arm along a first axis, and is located at one end of the connecting arm. The end arm is rotatably assembled to the other end of the connecting arm along a second axis substantially perpendicular to the first axis, such that the connecting arm is rotatably assembled between the support arm and the end arm.11-03-2011
20110277581DELTA ROBOT FOR INCREASED REQUIREMENTS ON DYNAMICS, HYGIENE AND PROTECTION AGAINST THE CONSEQUENCES OF COLLISION - Delta robot for increased requirements on dynamics, hygiene and protection against the consequences of collision, comprising a stationary housing, in which at least three drives are installed and on which at least three upper arms are mounted such that they are pivotable about an axle in each case and are in each case connected to a drive, and at their free ends are connected to a pair of elongate and mutually parallel lower arms via one ball joint in each case, and at their other end are connected to a movable parallel plate via a further ball joint in each case, a ball head or a ball socket being fixed at both ends of each underarm as part of a ball joint, the lower arms comprising in each case a stainless steel tube, the inner space of which is sealed in a watertight manner, by means of a ball head or a ball socket at both ends of the stainless steel tube, and which is plastically deformable.11-17-2011
20110232411ROBOT ARM ASSEMBLY - A robot arm assembly includes a first robot arm and a second robot arm rotatably connected to the first robot arm. The first robot arm includes a first sleeve, a first input shaft, and a second input shaft. The first input shaft and the second input shaft are seated in the first sleeve. The second robot arm includes a second sleeve and an output shaft received in the second sleeve. The first input shaft is connected to the second sleeve via a pair of bevel gears, and drives the second sleeve to rotate relative to the first sleeve. The second input shaft is connected to the output shaft via at least two pairs of bevel gears, and drives the output shaft to rotate relative to the second sleeve.09-29-2011
20080223169Robot arm coupling device - Even if the coupling surface of an arm side attachment and a tool side attachment is directed in a direction other than the horizontal direction, the tool side attachment can be automatically separated and detached from the arm side attachment. When exchanging a tool, the worker does not have to forcibly pull out and detach a tool side attachment from an arm side attachment, a tool can be exchanged automatically, and the exchange work can be performed easily in a short period of time. When the cam member 09-18-2008
20130139636ROTARY ACTUATOR EQUIPPED WITH SENSING MECHANISM, AND JOINT UNIT - A rotary actuator equipped with a sensing mechanism includes a motor and a reducer concentrically disposed inside a cylindrical housing; a scale for detecting the rotational position of a rotary arm, the scale being disposed on the circular outer face of the cylindrical housing; and a position sensor mounted in the facing section of the rotary arm that rotates along the circular outer face, the facing section being in a facing arrangement with the circular outer face. A detection mechanism includes the scale and the position sensor detects the rotational position of the rotary arm capable of rotating within a finite angular range along the circular outer face of the cylindrical housing. The components are concentrically disposed. The actuator is suitable for use as a digital joint unit.06-06-2013
20110303042INDUSTRIAL ROBOT - An industrial robot includes a first link, a second link, and a joint connecting the first and second links. The joint includes a main body coupled to the first and second links, a first actuator mounted on the main body to rotate the first link, a second actuator to rotate the main body relative to the second link, a number of cables connected to the second actuators, a protective cover secured to the main body to receive the first and second actuators and the cables, and a number of fasteners fixing the protective cover to the main body.12-15-2011
20130112031ROBOT ARM ASSEMBLY - A robot arm assembly includes a main base, a joint and at least one arm. The main base includes a main body, and the main body includes a mounting portion and a limiting post on a side of the mounting portion. The joint is rotatably mounted on the mounting portion and includes a limit piece corresponding to the limiting post. The at least one arm is fixed to the joint, when the arm rotates relative to the main base to a predetermined extent of rotation, the limit piece abuts against the limiting post to stop the rotation of the arm.05-09-2013
20130125696ROBOT ARM ASSEMBLY - A robot arm assembly includes a first, a second, and a third hollow arm, a fourth arm, and a first, a second, and a third transmission. The second arm is rotatably connected to the first arm, the third arm is rotatably connected to the second arm, the fourth arm is rotatably connected to the third arm. The first transmission sub-assembly is rotatably received in the first arm. The second transmission sub-assembly is rotatably received in the first arm and the second arm. The third transmission sub-assembly is rotatably received in the first arm, the second arm, and the third arm, and fixedly connected to the fourth arm. The first arm, the second arm, the third arm, and the fourth arm are capable of rotating around a first axis, a second axis, a third axis, and a fourth axis respectively.05-23-2013
20130145893CEILING-MOUNTED SCARA ROBOT - A ceiling-mounted SCARA robot includes a base, a first arm that is connected to the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft as a center of pivotal movement within a horizontal plane, a second arm that is connected to the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft as a center of pivotal movement within a horizontal plane, a working shaft that is mounted on the second arm, and a base mounting part that is mounted on the base and places the base on a beam as a structural body for mounting located at a position vertically above an operating area of the working shaft.06-13-2013
20100307279Robust Manual Connector for Robotic Arm End Effector - The present invention is an assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.12-09-2010
20110296944THREE-AXIS ROBOTIC JOINT USING FOUR-BAR LINKAGES TO DRIVE DIFFERENTIAL SIDE GEARS - A robotic joint configured as a 3-axis joint. The joint includes an input roll assembly and a pitch-output roll assembly. The pitch-output roll assembly includes: a housing; a differential mechanism including left and right input gears, an output gear, a cross element interconnecting the gears, and a clevis supporting the gears and the cross element; a left four-bar linkage coupled to the left input gear; a right four-bar linkage coupled to the right input gear; and first and second linear actuators connected to the left and right four-bar linkages. The first and second linear actuators selectively drive the left and right input gears to rotate the output gear about an output roll axis and to rotate the cross element about a pitch axis passing through the cross element and input gears. A linear actuator in the input roll assembly rotates the pitch-output roll housing about an input roll axis.12-08-2011
20120017718ROBOTIC MUSCULAR-SKELETAL JOINTED STRUCTURES - A robotic musculo-skeletal jointed structure comprising: (a) first and second joint parts coupled together for relative angular movement about a hinge axis there between; (b) an air muscle; (c) spaced first and second attachment sites, being sites respectively located at said joint first and second parts, and about which the tubular braiding, at least, of said air muscle extends to form an endless loop; (d) first and second attachment means respectively located at said first and second air muscle spaced attachment sites, said first attachment means being such as to secure said tubular braiding against lengthwise movement thereof with respect to said joint first part at said first attachment site, and said second attachment means being such as to secure said tubular braiding against lengthwise movement thereof with respect to said joint second part at said second attachment site, the endless tubular braiding being thereby partitioned into first and second tubular braiding segments contiguous with one another at both said attachment sites and housing segregated first and second resiliently expansible tubular parts, respectively; and, (e) air duct means, being means whereby air may be admitted and evacuated, as may be required, independently to and from said resiliently expansible air muscle tubular parts; and in which: (f) said joint parts, the location there between of said axis, the locations of said first and second attachment sites and of said first and second tubular braiding attachment means thereat, and the positional inter-relationship between all of these, are such that change in tubular braiding length arising from variation in girth of the resiliently expansible tubular parts under change in air pressure in said air muscle tubular parts, or either of them, gives rise to a corresponding angular relative displacement between said joint first and second parts about said axis.01-26-2012
20130192406Fast Runner Limb Articulation System - A robotic limb structure which is capable of achieving high speeds. In the context of a biped, the structure is used for a pair of hind limbs. The limb structure includes a primary driven link—such as a thigh pivoting about a hip joint in the case of a hind limb. Secondary links are pivotally connected to the primary driving link. Auxiliary links are provided to constrain the motion between the links. Elastic trim elements are also provided to define a “relaxed” state for the limb and to influence the resonance characteristics of the structure. The control system takes advantage of the resonant characteristics of the structure as a whole.08-01-2013

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