A motor is fixed to one wall portion of an arm in an inner space of the arm. A hollow bearing is inserted in a first opening portion formed in other wall portion of the arm. A hollow shaft portion is removably fixed to a housing and supports an inner ring of the hollowing bearing. A hollow portion of the hollow shaft portion is formed to be smaller than the motor. The first opening portion is formed such that the motor is allowed to pass therethrough. A wall portion of the housing that forms support portions is formed with a second opening portion that allows the hollow bearing and the motor to pass therethrough.

A method, a robot, and a computer program product for detecting and evaluating a friction status in at least one joint of a robotic arm, wherein, within the scope of a brake test program, at least one motor of a plurality of electric motors is driven automatically in a first rotational direction, wherein a detection of a first motor torque in the driven motor takes place during its rotation in the first rotational direction. The at least one motor is then driven in a second rotational direction opposite the first rotational direction, wherein a detection of a second motor torque in the driven motor takes place during its rotation in the second rotational direction. An automatic evaluation of the first motor torque and the second motor torque takes place in order to obtain the friction torque of the joint associated with the driven motor.

A method, a robot, and a computer program product for detecting and evaluating a friction status in at least one joint of a robotic arm, wherein, within the scope of a brake test program, at least one motor of a plurality of electric motors is driven automatically in a first rotational direction, wherein a detection of a first motor torque in the driven motor takes place during its rotation in the first rotational direction. The at least one motor is then driven in a second rotational direction opposite the first rotational direction, wherein a detection of a second motor torque in the driven motor takes place during its rotation in the second rotational direction. An automatic evaluation of the first motor torque and the second motor torque takes place in order to obtain the friction torque of the joint associated with the driven motor.

An actuator controlled by a driver, includes an actuator-side connector that is detachably connected to a driver-side connector provided in the driver, in which the actuator is able to be electrically connected to the driver, by connecting the actuator-side connector and the driver-side connector to each other.

A roll rotation structure for rotationally driving, in a roll direction of a robot, an arm unit mounted on a shoulder part of the robot through a roll support part comprises a linear motion actuator having an output shaft that moves linearly, a mounting part by which the linear motion actuator is mounted on the shoulder part in such a manner that a main body of the linear motion actuator is located at the side of a main body of the robot adjacent to the shoulder part, and that the output shaft of the linear motion actuator can be drawn into and out of the shoulder part, and a connection part that connects the output shaft and the arm unit in such a manner that an output from the output shaft of the linear motion actuator produces an angular moment in the roll direction in the roll support part.

A support arm system (10) has at least one lockable articulated connection (16). A locking device (20) is associated with the articulated connection (16). The locking device (20) includes a passive drive (32) as well as an actuating device (36) associated with the locking device (20) with an active drive (38). The active drive (38) acts in the same plane as the passive drive (32).

A support arm system (10) has at least one lockable articulated connection (16). A locking device (20) is associated with the articulated connection (16). The locking device (20) includes a passive drive (32) as well as an actuating device (36) associated with the locking device (20) with an active drive (38). The active drive (38) acts in the same plane as the passive drive (32).

A releasable joint between two component flanges is for use in a robot arm. The flanges have a number of teeth on each part that is pressed into contact by clamps, screws or other means. The releasable joint assembly is suitable for establishing a robot joint between a first and second component each having interlocking annular flange with respective contact surfaces, and where these flanges are held in place by a clamp.

A reusable mechanism is disclosed for coupling two robotic appendages, such that an unintended force acting against a side of one of the appendages may decouple the appendages. The mechanism includes a revolved male dovetail mated to a revolved female dovetail. The mechanism may further include a channel within the male dovetail and a detent that inhibits rotation of the male dovetail in relation to the female dovetail.

A reusable mechanism is disclosed for coupling two robotic appendages, such that an unintended force acting against a side of one of the appendages may decouple the appendages. The mechanism includes a revolved male dovetail mated to a revolved female dovetail. The mechanism may further include a channel within the male dovetail and a detent that inhibits rotation of the male dovetail in relation to the female dovetail.