A control arm assembly for controlling a robot system includes a gimbal that is moveable and rotatable about three axes, and a handle assembly coupled to the gimbal. The handle assembly includes a body portion having a controller disposed therein and a first actuator disposed thereon. The first actuator is mechanically coupled to the controller via a four-bar linkage such that actuation of the first actuator causes mechanical movement of a component of the controller which is converted by the controller into an electrical signal.

A working device includes: a linear motion unit having three degrees of freedom and obtained by combining three linear motion actuators; and a rotary unit having three degrees of freedom and obtained by combining a plurality of rotating mechanisms each having one or more rotational degrees of freedom. The linear motion unit is mounted on a mount such that a base portion of the linear motion unit is fixed to the mount. A base portion of the rotary unit is fixedly mounted on an output portion of the linear motion unit. End effectors are mounted on both the output portion of the linear motion unit and an output portion of the rotary unit.

A link actuation device includes: a parallel link mechanism including a proximal-side link hub, a distal-side link hub, and three or more link mechanisms coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub can be changed with respect to the proximal-side link hub; actuators for changing the posture; and a teaching unit including a conversion unit configured to calculate coordinates (Wt (=Xt, Yt, Zt)) of a distal-side link center of the distal-side link hub, which are expressed in orthogonal coordinates, from rotation angles (βn; n=1, 2, . . . ) of the end link members. A normal vector is applied to equations of a plane and of a sphere, and the equations are rearranged and used in the conversion unit.

A working device (1) using a parallel link mechanism includes: a parallel link mechanism (10) by which end effectors (4, 5) are supported so as to be changeable in posture; and posture-controlling actuators (11) which actuate the parallel link mechanism (10). In the parallel link mechanism (10), a distal-end-side link hub (13) is connected to a proximal-end-side link hub (12) via three or more link mechanisms (14) so as to be changeable in posture of the distal-end-side link hub (13) relative to the proximal-end-side link hub (12). The end effectors (4, 5) are mounted to the distal-end-side link hub (12), and includes one main end effector (4) which performs a main work on a workpiece (3) and one or multiple sub end effectors (5) which perform an auxiliary work on the workpiece (3).

A working device (1) using a parallel link mechanism includes: a parallel link mechanism (10) by which end effectors (4, 5) are supported so as to be changeable in posture; and posture-controlling actuators (11) which actuate the parallel link mechanism (10). In the parallel link mechanism (10), a distal-end-side link hub (13) is connected to a proximal-end-side link hub (12) via three or more link mechanisms (14) so as to be changeable in posture of the distal-end-side link hub (13) relative to the proximal-end-side link hub (12). The end effectors (4, 5) are mounted to the distal-end-side link hub (12), and includes one main end effector (4) which performs a main work on a workpiece (3) and one or multiple sub end effectors (5) which perform an auxiliary work on the workpiece (3).

A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

An apparatus for unlocking an actuator comprises a first member mounted in a housing for longitudinal movement along an axis. A recess is formed in a surface of the first member. The apparatus further comprises a second member for operative connection to a lock release element of an actuator for movement in a direction generally transverse to the axis of movement of the first member. The second member has a follower element resiliently biased into contact with the surface of the first member. The apparatus further comprises an unlocking actuator for moving the first member along the axis between a first, locking position in which the follower element engages the surface and a second, unlocking position in which the follower element is at least partially received within the recess.

A rotary damper includes a rotating input member rotating about a rotation axis; a first cylinder and a second cylinder coaxially arranged on opposite sides of the rotation axis; a first and a second pistons slidable inside the first and second cylinders and defining a first and a second working chambers containing incompressible working fluids, respectively; motion conversion mechanisms converting the rotary motion of the rotating input member about the rotation axis into reciprocating motion of the first and second pistons; a third cylinder; a fourth cylinder; and a third and fourth pistons, slidable inside the third and fourth cylinders, respectively and separating the inner volume of the respective cylinder into a respective main chamber in fluid communication with the first working chamber and auxiliary chambers; and the second working chamber and auxiliary chambers respectively.

The present disclosure provides a differential gear device. The differential gear device includes a differential gear set including a first side gear and a second side gear disposed opposite to each other, and a first planetary gear meshing with the first side gear and the second side gear, the first planetary gear being configured to rotate on its own and to revolve around the first side gear and the second side gear; a first motor connected to the first side gear; a second motor connected to the second side gear; and a slider-crank assembly including a crank, a connecting rod, and a sliding block, both ends of the connecting rod being hinged with the crank and the sliding block respectively, and the crank being connected with the first planetary gear.