A robotic surgical instrument comprises an articulation at its shaft's distal end and an instrument interface at its proximal end. The articulation is driveable by pairs of driving elements to articulate an end effector. The instrument interface comprises instrument interface elements configured to drive the driving elements. The instrument interface elements engage drive assembly interface elements of a drive assembly interface of a surgical robot arm when the robotic surgical instrument engages the surgical robot arm. A guide bar is located at an external face of the instrument interface, which, on engaging the instrument interface with the drive assembly interface, is received in the drive assembly interface prior to the instrument interface elements. Once received in the drive assembly interface, the guide bar constrains a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.

A machine tool includes a workpiece spindle that retains a workpiece or a tool, a spindle motor that rotates the workpiece spindle, an in-machine robot that is provided inside the machine tool and that is an articulated robot having one or more joints, and a plurality of gears that connect or disconnect a root joint which is placed, among the one or more joints, closest to a base end, and the spindle motor to or from each other.

An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.

The invention relates to an articulated robot arm (1) which comprises a plurality of trapezoidal truncated cylinders (2) disposed in succession around an internal holding member (4), each trapezoidal truncated cylinder (2) being configured to pivot about the internal holding member (4), the internal holding member (4) having angular control means for controlling the rotation of each trapezoidal truncated cylinder (2).

A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

A robot includes a base; a robot arm that includes an arm which is rotatable around a rotation axis with respect to the base; and a connector that is provided in the base and is capable of being connected to an external wire. The connector is located on a side of the center of gravity more than a line that is perpendicular to a location of a center of gravity of the robot arm when the robot arm is in a basic posture and a line segment passing through the rotation axis and passes through the rotation axis, as viewed from an axial direction of the rotation axis.

A joint module has a base, a motion mechanism, a linear driving mechanism, a driving motor assembly, and a transmission. The motion mechanism, the linear driving mechanism, and the driving motor assembly are disposed on the base. The transmission is disposed between the linear driving mechanism and the driving motor assembly. A first transmitting assembly and a second transmitting assembly of the motion mechanism are disposed on the base in parallel. A first linear driving assembly and a second linear driving assembly of the linear driving mechanism are non-coaxial and are disposed on the base in parallel. A first wheel transmitting assembly of the transmission is connected to the driving motor assembly and the first linear driving assembly. A second wheel transmitting assembly of the transmission is connected to the driving motor assembly and the second linear driving assembly.

A machine tool for machining a workpiece has a spindle arm with a spindle for receiving a tool or workpiece. The spindle arm is movably attached to a spindle arm receiving section. The spindle arm has a first spindle arm section, being a longitudinal element, having a first rotational axis with respect to the spindle arm receiving section and is hinged to the spindle arm receiving section; a second spindle arm section, rotatable about a second rotational axis with respect to and is hinged to the first. The spindle arm receiving section has a first subsection and a second subsection, arranged on the machine column at a distance from one another to receive the spindle arm. The first spindle arm section has first and second subsections, which are arranged on the spindle arm receiving section at a distance from each other to receive the second spindle arm section.

The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.