A ball screw spline assembly includes a ball screw spline including a first nut including a first mounting surface adapted to receive a first fastening element; a second nut including a second mounting surface adapted to receive a second fastening element; and a shaft passing through the first nut and the second nut; the housing including a first portion and a second portion, the first portion extends in a direction substantially parallel to the shaft, and the second portion extends in a direction substantially perpendicular to the shaft; a connecting plate coupling the second nut to the first portion, the first nut is installed to the second portion; the first mounting surface and the second mounting surface are located within a space defined by the first portion, the second portion and the connecting plate, such that the ball screw spline is integrally installable to the housing.

An actuatable joint for a robotic system has a body, a motor positioned in the body, an output shaft configured to be rotated by the motor relative to the body, and a bearing assembly positioned between the output shaft and the body and configured to support the rotation of the output shaft. The bearing assembly has a first axial angular contact roller bearing. The roller bearing has a pair of frusto-conical bearing rings forming a pair of parallel races, a bearing cage positioned between the pair of bearing rings and including a plurality of openings, and a plurality of rollers positioned in the openings and in contact with the races.

A lamellar cover for use with an articulating joint is disclosed. The cover includes an annular retainer positionable adjacent a first portion of the articulating joint. A retainer fitting is positionable adjacent a second portion of the articulating joint that is moveable with respect to the first portion. A plurality of overlapping lamellar rings are supported between the annular retainer and the retainer fitting. Each lamellar ring includes a circular support ring, such as an o-ring, and a plurality of lamellas coupled to the circular support ring. One or more connectors extend between adjacent lamellar rings. Each of the plurality of overlapping lamellar rings has a ring diameter. One or more of the ring diameters decrease in size with respect to each other from the annular retainer to the retainer fitting thereby forming a tapered cover around the articulating joint.

An assembly includes a first component including an arm having a first end and a second end, a plurality of nuts positioned within an interior of the arm, a yoke cap, a plurality of fasteners threadably coupled with the plurality of nuts to affix the yoke cap to the first end of the arm, and a second component positioned between the first end of the arm and the yoke cap. The second component is rotatable about an axis relative to the arm.

A speed reducing mechanism according to one embodiment of the disclosure includes a case, internal tooth pins, an oscillating gear meshing with the internal tooth pins, an input crankshaft transmitting a rotational force to the oscillating gear, and an output shaft to which a rotational force of the oscillating gear is transmitted. One of the shafts at least partially has a shaft-side high thermal conductivity portion that extends over the entire axial length of the shaft and has a thermal conductivity higher than the thermal conductivity of the oscillating gear.

A plurality of balls inserted in the gap space between an outer ring raceway surface and an inner ring raceway surface are arranged at equally spaced intervals in a circumferential direction. The procedure of this ball arranging method for a ball bearing includes a ball holding step of holding any ball in the gap space by a ball holding mechanism provided at a tip of a robot arm and a ball moving step of moving the ball held by the ball holding mechanism along a pitch circle, and these steps are repeatedly performed for the plurality of balls based on a control program. Accordingly, the plurality of balls are arranged at equally spaced intervals on the pitch circle.

A flexure joint apparatus includes a first fixing unit, at least one first flexure extending from the first fixing unit, and a connection member having a first head elastically supported by the at least one first flexure.

A joint structure for a robot according to the present disclosure includes a first link and a second link rotatably coupled to each other via a joint part. The joint part has a first rotary member disposed so that an axial center thereof is oriented in a first direction and connected to the first link, a pair of second rotary members disposed so that an axial center thereof is oriented in a second direction perpendicular to the first direction, and so as to engage with the first rotary member, and a shaft member formed in a T-shape and having a first shank and a pair of second shanks. The joint structure further includes a pressing member connected to the second shank and configured to press the second rotary member inwardly.

The motion guide device clamper mechanism includes a clamper main body connected to the movable member, an inner face having a tapered shape so that the distance between the facing faces is narrower toward the end of one face of the track member, and one rolling member disposed between the facing faces of the one face of the track member and the inner face. The rolling member receives a pressing force toward a position where the distance between the facing faces of one face of the track member and the inner face of the clamper main body is narrow, so that a frictional force based on the taper shape acts on the rolling member, and the restraint of the clamper main body with respect to the track member is performed. Further, a frictional force based upon the taper shape is released and the non-restraint of the clamper is performed.

A mechanical transmission system that transmits motions and forces from one location to another while allowing the relative position/orientation of the two locations to change continuously is disclosed. The system can be used to actuate the joints and tooling of a robotic arm using stationary motors in the robot's base. Since the motors do not contribute any weight or inertia to the arm, this yields a lightweight and agile arm that is more human safe. The transmission includes a controller hydraulic cylinder connected to a remote cylinder by a tubing assembly, which contains hydraulic fluid, and a wire cable. The fluid transmits pushing forces between pistons of the cylinders, while the cable transmits pulling forces. The tubing assembly allows the cylinders to move in space relative to one another.