A robot wrist structure includes: a case, a first motor, a second motor, a first transmission mechanism, a second transmission mechanism, a first driving bevel gear, a second driving bevel gear, a driven bevel gear, a retaining fame, and an output connecting member; wherein the first motor and the second motor are mounted on the case, the first driving bevel gear, the second driving bevel gear and the driven bevel gear are respectively rotatably mounted in the retaining frame, the first driving bevel gear and the second driving bevel gear are both in mesh with the driven bevel gear, the first motor is connected to the first driving bevel gear by the first transmission mechanism, the second motor is connected to the second driving bevel gear by the second transmission mechanism, and the output connecting member is fixedly connected to the driven bevel gear.

A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

The invention relates to exoskeletons and artificial muscles for soft exoskeletons (1). The muscle (21, 22, 23, 24) comprises a first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, each comprising an attachment means (227) for attachment of said muscle to a muscle connector (32) of the exoskeleton (1), and a muscle core (223) made of a deformable material extending between said first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon, the muscle core (223) preferably comprising an outer sleeve (225); wherein each of the first (211, 221, 231, 241) and second tendon (212, 222, 232, 242) is adapted for receiving a respective end of said muscle core (223); wherein the first tendon (211, 221, 231, 241) preferably comprises an actuation interface (229) for connection of said muscle core (223) to an actuator for generating an actuation; wherein the muscle core (223) is adapted to undergo a change in length when being actuated, thereby causing the first (211, 221, 231, 241) and second (212, 222, 232, 242) tendon to move towards each other when said actuation received via the actuation interface is on or increased, and to move away from each other when said actuation is off or reduced.

A device and method for aligning a robot coordinate system, being a coordinate system of a robot for moving an operating point three-dimensionally, and a measuring instrument coordinate system, being a coordinate system of a three-dimensional measuring instrument which is capable of executing a light sectioning method and of which a position and attitude with respect to the operating point are unchanging, characterized by including the steps of: determining a relationship between the coordinate systems; radiating sheet-like slit light from the three-dimensional measuring instrument onto a reference object in the shape of a rectangular cuboid which is fixed; finding the attitude of the three-dimensional measuring instrument relative to the reference object; and moving the three-dimensional measuring instrument such that the attitude of the three-dimensional measuring instrument falls within a predetermined standard attitude range.

A device and method for aligning a robot coordinate system, being a coordinate system of a robot for moving an operating point three-dimensionally, and a measuring instrument coordinate system, being a coordinate system of a three-dimensional measuring instrument which is capable of executing a light sectioning method and of which a position and attitude with respect to the operating point are unchanging, characterized by including the steps of: determining a relationship between the coordinate systems; radiating sheet-like slit light from the three-dimensional measuring instrument onto a reference object in the shape of a rectangular cuboid which is fixed; finding the attitude of the three-dimensional measuring instrument relative to the reference object; and moving the three-dimensional measuring instrument such that the attitude of the three-dimensional measuring instrument falls within a predetermined standard attitude range.

Currently, there is no efficient mechanism for speed increasing with very high transmission ratio. Therefore, a planetary mechanism is proposed, with two suns (0b, 3b), having teeth numbers: Z.sub.1,Z.sub.4, one stationary (0b) and one (3b) constituting the input of mechanism, a carrier (1a, 1b, 1c, 1d) constituting the output, and a planetic shaft (2b) with two planets (2a, 2c), cooperating with corresponding suns (0b, 3b) and having teeth numbers: Z.sub.2,Z.sub.3, where the term: Z.sub.1/Z.sub.2.Z.sub.3/Z.sub.4 is closest to 1, so the transmission ratio between moving sun (3b) and carrier (1a, 1b, 1c, 1d) is maximum possible. In a specific case, named “Three Successive Integers Mechanism”, this transmission ratio is equal to k.sup.2, where k is integer, easily taking high value. The applications are unlimited, while some are: —wind turbine, —electric assisted bicycle, —energy storage unit of enormous kinetic energy with k.sup.4 times increased moment of inertia, —mechanically driven supercharger for ICE or fuel cell, —robotic articulated arm (as speed reducer).

A planar drive device having a first platform and having a second platform, which platforms are movable in an X-Y plane on a work bench, wherein the first platform has a frame, a transmission and a working platform for the arrangement of a work tool, wherein the transmission permits an adjustment of the distance of the working platform with respect to the X-Y plane, wherein the second platform has a frame and a drive member which is coupled in terms of movement at least indirectly to the working platform such that the distance of the working platform from the X-Y plane is adjustable by changing a distance between the two platforms within the X-Y plane. The work tool can be transferred into at least two different working states by relative movement of the platforms in the X-Y plane.

A coupling element for a positioning device, which includes a first and second linear guides for guiding first and second carriages respectively along first and second linear directions, is configured to create a coupling between the first carriage and the second linear guide. The coupling element includes a central part and a surrounding part spaced at a distance therefrom. The surrounding part has a central portion surrounding the central part, and has two end portions adjoining the central portion in the first linear direction. Connecting flat springs are disposed to create the distance and connect together the central part and the central portion of the surrounding part. The connecting flat springs lie in planes which intersect at a center of the central part. A vertical flat spring is disposed parallel to the first linear direction at each of the two end portions of the surrounding part.

An object gripping mechanism is provided for use with a robotic arm. A robotic arm and method of manufacturing an object gripping mechanism are also provided. The object gripping mechanism includes an attachment modular configured to connect the object gripping mechanism to the robotic arm. The object gripping mechanism also includes a plurality of retractable arms each pivotably connected with the attachment modular. The object gripping mechanism also includes one or more movement mechanisms collectively configured to pivot the plurality of retractable arms to a desired position. The object gripping mechanism further includes a drive mechanism positioned within each of the plurality of retractable arms and configured to pivot the object engagement feature using a gear and timing belt configuration.

A gear device includes an internal gear, a flexible external gear, and a wave generator. The wave generator includes an elliptical cam and a bearing. Grease is applied to the inner circumferential surface of the external gear. A groove is provided along a rotation axis on at least one of the inner circumferential surface of the external gear and an outer circumferential surface of the bearing.