A workpiece conveyance device includes a base body disposed adjacent to a press machine, a pair of first arms, a pair of second arms, and a first holding portion and a second holding portion independent of each other. Each of the first holding portion and the second holding portion includes a plurality of holding members configured to hold a workpiece W. The first holding portion includes a first support member, a second support member, and an absorption member. The second support member movably supports the first support member along an intersection direction. The absorption member allows movement of the second support member caused in the intersection direction relative to the first support member, and makes it possible for the second support member to return to an initial position in the intersection direction relative to the first support member.

A motorized joint unit comprises a pair of shells defining an inner cavity, the pair of shells adapted to be connected to adjacent links of an articulated mechanism. A rotor and stator in the inner cavity are actuatable to cause a relative rotation therebetween. A shaft connected to the rotor to rotate with the rotor relative to the stator. A support coupled to the shaft by a mechanism, the support being connected to one of the shells to impart a rotation of the shaft to the shell, the support defining an annular wall. One or more strain gauges are located on said annular wall of the support. A printed circuit board (PCB) is applied against the annular wall and electrically connected to the at least one strain gauge, the PCB adapted to be electrically linked to a controller.

An end effector assembly for a picking robot, and a tool unit is disclosed, the end effector assembly comprising a first end effector part, a second end effector part, and an end effector device mounted on the second end effector part, wherein the first end effector part and the second end effector part are connected via a joint connection comprising a first joint having at least a first degree of freedom, the joint connection comprising a first spring construction having a first end and a second end, the first end connected to the first end effector part and the second end connected to the second end effector part.

A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

A support device supports a component gripping device including an engagement part to be engaged with a predetermined component. The component gripping device grips the component in a state in which the engagement part is caused to be engaged with the component. The support device contains a support body part, a first shift mechanism part, a second shift mechanism part, a third shift mechanism part, a first rotation mechanism part, a second rotation mechanism part, and a third rotation mechanism part.

A robotic system comprising an upper robotic assembly and a base platform rotatable relative to one another in at least one degree of freedom via one or more joints. The robotic system further comprises a joint position restoration assembly coupled to at least one of the upper robotic assembly or the base platform, and having a first spring coupled between the upper robotic assembly and the base platform, the joint position restoration assembly being operable to apply a restoring torque to the first joint, wherein the joint position restoration assembly is configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to mass properties of at least a portion of the robotic assembly associated with the first joint, such that the joint position restoration assembly operates to apply the restoring torque to position and to support the first joint in a stable support position.

A first drive unit includes a motor having a rotation shaft in which a through hole is provided, a drive section rotating the rotation shaft, and a first case covering at least a part of the drive section. Further, the unit includes a reducer having an input portion engaging with one end portion of the rotation shaft, an attachment portion attached to the motor, and an output portion reducing and outputting rotation of the rotation shaft. Furthermore, the unit includes a first connector fixed to a third case of the motor and coupled to first wiring coupled to outside and a second connector fixed to the attachment portion of the reducer and coupled to second wiring coupled to the outside. In addition, the first drive unit includes internal wiring passing through the through hole and coupled to the first connector and the second connector.

A robotic arm comprising a first arm portion, a second arm portion, the second arm portion moveable between a first axial position, in which the first arm portion and the second arm portion are mutually spaced from each other along said axis, and a second axial position, in which a first end of first arm portion and a second end of the second arm portion are in contact to define a housing, a head rotatable with respect to the first arm portion and around said axis; and a robotic joint. The joint is configured for adopting an operative condition, to make the second arm portion integral with the head. The robotic arm is configured so that said operative condition corresponds to said second axial position and said second angular position and the robotic arm is configured so that, in said operative condition, the joint is located within said housing.

A system includes a robot with a robot arm having multiple joints and an end effector to carry a substrate. A processing device is to build, with respect to a joint space for the multiple joints and the end effector, a graph of reachable positions and sub-paths between the reachable positions, wherein the reachable positions and the sub-paths satisfy Cartesian limits within the joint space. The processing device is to determine, by executing a graph optimization algorithm on the graph, multiple paths, each made up of a group of the sub-paths and having one of a shortest distance or a lowest cost between a start point and an end point of the end effector. The processing device is to select a path, of the multiple paths, through the graph that minimizes a move time of the end effector between the start point and the end point.

A system includes a robot with a robot arm having multiple joints and an end effector to carry a substrate. A processing device is to build, with respect to a joint space for the multiple joints and the end effector, a graph of reachable positions and sub-paths between the reachable positions, wherein the reachable positions and the sub-paths satisfy Cartesian limits within the joint space. The processing device is to determine, by executing a graph optimization algorithm on the graph, multiple paths, each made up of a group of the sub-paths and having one of a shortest distance or a lowest cost between a start point and an end point of the end effector. The processing device is to select a path, of the multiple paths, through the graph that minimizes a move time of the end effector between the start point and the end point.