A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.

A robotic system includes a robotic manipulator having one or more contact pads. The contact pads have features therein that are detectable to determine or measure a degree to which they have worn down. Such features may include fluorescent materials, colorful materials, and/or RFID tags. A robotic environment may include one or more sensors to detect such features, and may be configured to generate a signal indicating that one or more contact pads are in need of maintenance.

Mechanisms to realize lightweight rotational joints having passive, high torque braking in one or more degrees of freedom are presented herein. In addition, robotic systems incorporating one or more rotational joints with passive, high torque braking as described herein are also presented. Each degree of freedom includes a spring element to preload the braking assembly to maintain high torque braking. The force generated by the spring is multiplied to a much larger force applied to the braking elements by a lever structure and an eccentric mechanism. A human user manually displaces the spring element and effectively reduces braking torque to a desired amount. In a further aspect, a two degree of freedom mechanical shoulder joint and brake device is disposed in a structural path between the harness assembly of an upper body support system and a surface of a working environment.

A robotic medical system can include a motorized arm that is supported by a column of the system. The robotic arm can be operated by rotating a link of the motorized arm by actuating an actuator to drive rotation of a rotary joint. A brake can then be applied to the rotary joint to stop rotation of the link. The arm can also include an arbor that can be actuated to increase a torsional stiffness of the rotary joint.

Described is a robotic apparatus (10) for investigating a confined area comprising: an articulated robot (20) for insertion into a confined area, the robotic apparatus further comprising a robot control system (30) for controlling the articulated robot. Further, the robot control system comprises a control unit (50), a robot driving means, a seal (70) for isolating the confined area from the external environment and at least one transmission member (80), wherein the control unit is configured to send control signals to the robot driving means, and the at least one transmission member extends from the robot driving means to connect to the articulated robot, the at least one transmission member extending through the seal.

An active arm module and modular robot arm for an industrial robot comprises a housing, a heat exchanger, a drive device, and a connecting side with a connecting plate. The connecting plate can be mechanically connected to a further arm module or to a robot base for transmitting drive and support forces. The housing defines an interior space for receiving the drive device. The heat exchanger accommodates the drive device at least in sections, and is thermally coupled to the drive device. The heat exchanger has a fluid channel and can exchange heat between the drive device and the fluid. The arm module comprises a fluid contact device arranged at the connecting plate. Fluid can be exchanged with the further arm module or robot base via the fluid contact device; e.g., the fluid channel can be filled with the fluid for exchanging the fluid with the first fluid contact device.

According to an aspect of the disclosure, a robot arm gripper device includes a grip unit capable of gripping an object by a hinge movement, a power transmission unit coupled to the grip unit and transmitting power to the grip unit, and a buffer unit having one side connected to the power transmission unit and another side connected to a robot arm body, wherein the power transmission unit is movable on the buffer unit.

A substrate transfer robot for transferring a substrate in a vacuum chamber, includes: a transfer arm platform having coupling holes, wherein a link connecting member with blades is engaged at a front area of the transfer arm platform and a support shaft of a lower support is inserted into the lower space of one of the coupling holes; and a first and a second transfer arm part each including an end effector for supporting the substrate, multiple transfer link arms and subordinate link arms, and a common link arm that are connected to each other or to the transfer arm platform, wherein, the transfer link arms include at least some of drive shafts, interlocked with transfer driving motors or speed reducers, and output shafts interlocked with the drive shafts, and wherein the end effectors are positioned at different heights from each other through using a bracket.

Systems and methods for changing an end effector are provided. A robot flange may have a first receiver and a first electrical connection. An end effector may have a second receiver, a second electrical connection, and a locking assembly. The locking assembly may be configured to releasably secure the end effector to the robot flange. A connector may have an interface and an electrical connector for transferring at least one of power and data from the first electrical connection to the second electrical connection. The interface may be received by the first receiver and the second receiver when the connector is positioned between the robot flange and the end effector and the locking assembly secures the end effector to the robot flange.

Systems and methods for changing an end effector are provided. A connecting plate may have a first side, a second side opposite the first side, and a kinematic interface. The kinematic interface may include at least one projection extending from both the first side and the second side. A robot flange may have a first kinematic receiver including at least one recess for receiving a corresponding projection of the at least one projection of the first side. An end effector may have a second kinematic receiver and a locking assembly. The second kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection of the second side. The locking assembly may be configured to releasably secure the end effector to the robot flange.