There is provided an end effector that is attached to a tip end of a robot arm for providing dispensation using a pipette and a chip attached to the pipette. The pipette includes a press button configured to draw a liquid into the chip or to discharge the liquid drawn into the chip from the chip as the press button is pressed and operated. The end effector includes a holding part for holding the pipette, a motor, and a swing part that presses and operates the press button as the swing part is driven and swung by the motor.

Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

Apparatus (10) for generating motion around a remote center of motion (RCM), comprising a distal link (L12) arranged to revolve about the remote center of motion and to translate through the remote center of motion, a proximal link (L10) arranged to revolve about a proximal center of motion (LCM), coupled to a base link (L1), through a rotational joint (150) and a sliding joint (181), a first mechanism comprising a first link (L9) pivotally coupled to the proximal link (L10) and to the distal link (L12) and operable to transfer motion of the proximal link relative to the proximal center of motion to a motion of the distal link relative to the remote center of motion by maintaining a parallelogram (PAR1), and a second mechanism operable to move the first link with two degrees of freedom in a plane parallel to the plane of motion of the proximal link, characterized in that the second mechanism comprises one link or a serial connection of links (L4, L8, L3, L7, L2, L6) connecting the base link to the first link, configured to have an orientation of instant motion which is different from an orientation of instant motion of the proximal link (L10), relative to the base link.

A robotic system employing a robotic apparatus and a robot controller (20) for executing an interventional procedure. The robotic apparatus includes a robot manipulator (30) and an intervention robot (40) mounted to the robot manipulator (30) with a structural configuration of the intervention robot (40) defining a remote-center-of-motion. The robot controller (20) controls a manual actuation of a translational motion and/or a rotational motion of the robot manipulator (30) directed to a spatial positioning of the intervention robot (40) within a kinematic space of the robot manipulator (30) derived from a delineation of spatial positioning of the remote-center-of-motion within an image space. The robot controller (20) further controls a signal actuation of a pitch motion and/or a yaw motion of the intervention robot (40) directed to a spatial orienting of the end-effector within a kinematic space of the intervention robot (40) derived from a delineation of a spatial orienting of the remote-center-of-motion within the image space.

A positioning arm including a link assembly including a translation link configured to translationally move along a virtual axis passing a remote center of motion (RCM) present at a predetermined position separated from one point and configured to move in at least two directions based on the one point, and a gravity torque compensator configured to provide a compensation torque in a direction opposite to a gravity torque applied to the one point by a self-weight of the link assembly.

A portable programmable machine enhances efficiency and ergonomics associated with conducting otherwise manual operations within confined spaces. A main body supports a programmable telescoping arm configured to extend through an access port to reach a confined space. The arm includes an articulating wrist for holding and manipulating tools for autonomously processing work parts. The machine can also act semi-autonomously to accommodate interventions of an operator for overriding and fine-tuning interaction of a tool with a work part for proper processing of the part. The arm communicates with a computer in the main body for processing numerical data, and the operator may use a reference camera to fine tune any particular process. The machine incorporates multiple processing functions, for example collar swaging, nut running, cleaning, and/or application of sealants, all through an aircraft wing access port. The main body has lockable wheels for securing the main body near the access port.

Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

The installation space is made compact, the conveying speed of a workpiece is increased, and interference with peripheral devices is readily avoided. Provided is a conveying robot including: a pedestal; a rotating base provided in a rotatable manner about a first axis, which is substantially horizontal, relative to the pedestal; a first arm provided on the rotating base in a swivelable manner about a second axis that is orthogonal to an axis parallel to the first axis; and a second arm that is provided on the first arm in a movable manner in a longitudinal direction of the first arm and whose distal end supports a wrist unit, which is capable of holding a workpiece to be conveyed.

A robot is provided which has: a first arm portion to which an end effector is attached, a second arm portion configured to support, at a tip portion thereof, the first arm portion swingably about a first axis, a third arm portion configured to support a base end portion of the second arm portion rotatably about a second axis orthogonal to the first axis, a tube arranged from the base end portion side toward the tip portion side of the second arm portion and connected to the end effector; and a first recess portion and a second recess portion, which are formed along an arrangement direction of the tube between the base end portion and the tip portion on one side and the other side in a direction orthogonal to both of the first and second axes, respectively.

A motion-assisted positioning arm for a medical procedure. The positioning arm includes a base, an arm coupled to the base, and an end effector coupled to the arm. The arm includes a plurality of arm segments. The arm includes a plurality of joints for connecting the arm segments. The end effector may be manipulable with six degrees of freedom in a task-coordinate space based on motion by at least one joint in the plurality of joints. The positioning arm includes a processor to: detect manipulation of and determine forces or torques acting on the end effector; determine a surgical mode for constraining movement of the end effector in the task-coordinate space; determine an end effector velocity based on the determined forces or torques and the surgical mode for moving end effector; and apply at least one joint space movement based on the end effector velocity.