A gripping system for an autonomous guided vehicle (AGV) and such AGV are disclosed herein. The gripping system for automated gripping and pulling/pushing a cart comprises a unique gripping end effector ensuring controlled steering of the cart while allowing rolling of the cart relative to the body of the AGV. The end effector comprises means for indication of state of connection between the cart and the gripping system, ensuring a reliable, safe and efficient cart gripping and pulling operation.

An application device includes: a discharger having a discharge port configured to discharge an application material; a first supporter movably supporting the discharger around a position of the discharge port; and a first driver configured to move the discharger supported by the first supporter. An application method, includes: making a central axis of a discharge port coaxial with any rotation axis in an arm portion of an application robot, the discharge port being configured to discharge an application material; and applying the application material to an applied surface while moving a discharger having the discharge port around a position of the discharge port.

Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space.

A manipulator, including: a drive unit for generating a driving force, and a treatment tool that is driven by the drive unit and attachable to and detachable from the drive unit, wherein the treatment tool includes: a distal end having at least one joint driven by the drive unit, a lock unit that is actuated to lock at least one of joints at the distal end, a lock-operating unit for operating the lock unit, and a control unit that is operated such that the lock unit is operated by the lock-operating unit and such that when the drive unit is driven, the drive unit is deactivated, and even with the treatment tool detached from the drive unit, the lock unit keeps on with locking.

A force multiplier (5) configured to assist movement of the operating rod (22) in its axial direction is provided. An engagement recess (52) provided on an outer periphery of the operating rod (22) has a cam surface (52a) configured to make engagement with an engagement ball (51). There is provided a support hole (53) configured to allow movement of the engagement ball (51) in a radial direction of operating rod (22) and to restrict movement of the engagement ball (51) in the axial direction of the operating rod (22). A pressing member (54) configured to press the engagement ball (51) is provided, and the pressing member (54) has a force-multiplying surface (54a).

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.

In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.

The invention describes a retaining and positioning device of a surgical instrument and/or of an endoscope for minimally invasive surgery, more particularly for use within a surgical robot system, including a first axis of rotation, around which a retaining element can be rotated. The first axis of rotation always intersects with a longitudinal axis of at least one surgical instrument and/or of an endoscope in a pivotal point by means of a thrust drive being attached to the retaining element, to which thrust drive an instrument drive unit can be rotatably arranged around the pivotal point. The instrument drive unit has a telescopic arrangement via which the surgical instrument can be moved in a translational manner along the longitudinal axis thereof by means of a guide arrangement in the body in such a manner that the longitudinal axis of the surgical instrument is variably adjustable relative to the telescopic arrangement.

The present invention provides a work piece processing system for operating on a work piece or at least one component of a work piece. The processing system includes a base system for transporting the at least one work piece component, at least one processing head for operating on the work piece component, and means for controlling, the means for controlling the processing system. In a first embodiment, the processing system further includes a support structure, the support structure including at least one frame member having a track. Here, the at least one processing head travels along the track. In a second embodiment, the processing system further includes a multi-linkage robotic arm, the robotic arm including a plurality of rotary joints and a plurality of arm segments interconnecting the rotary joints. Here, the at least one processing head is operably mounted to a free end of one of the plurality of arm segments.

A robot includes first and second arms to rotate and convey an object; a first rotary body to support the first arm and having a first fluid passage and at least one second fluid passage communicating with the first fluid passage; a base-end-side arm formed with an internal space and a hole part into which a part of the first rotary body is inserted; a second rotary body to support the second arm and having a third fluid passage communicating at one end thereof with the second fluid passage and communicating at the other end thereof with the internal space; a supplying device disposed in the internal space and connected to an upstream-end side of the first fluid passage, and to supply fluid to the first fluid passage; a first motor to rotate the first rotary body; and a second motor to rotate the second rotary body.