A triaxial motion device includes first, second and third bases, first and second power sources, and a workpiece positioning member. The first power source is disposed on the first base and has a first driving shaft. The second base is connected with the first driving shaft through a cannular rotary shaft in a way that the second base is rotatable about a first axis. The second power source is disposed on the first base and has a second driving shaft penetrating through the cannular rotary shaft. The third base is connected with the second driving shaft in a way that the third base is rotatable about a second axis perpendicular to the first axis. The workpiece positioning member is disposed on the third base and rotatable about a third axis perpendicular to the second axis. Therefore, the triaxial motion device has small volume and performs highly precise motion.

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 plasma spraying system is provided for coating a substrate. The plasma spraying system includes a plasma gun, a nozzle and a mounting system. The plasma gun is adapted to direct plasma towards the substrate. The nozzle is adapted to direct coating medium into the plasma. The mounting system is adapted to rotate the nozzle to change an angle of incidence between the coating medium and the plasma.

Devices, systems and methods of controlling movement of a host mechanical system using inertial forces imparted by an augmentable or morphable appendage. Such appendages are attached to the host mechanical system such that augmentation or morphing of the appendage to move a mass of the appendage from an extended to a retracted configuration imparts inertial forces to the supporting structure. Augmentation/morphing is controlled and coordinated such that imparted inertial forces facilitate a desired movement of the mechanical system. The imparted forces can include translation forces and/or rotational forces along one or more axes. The augmentation or morphing of the appendage can be performed concurrently with separately controlled coordinated movement of the appendage to facilitate a desired movement of the mechanical system. Such appendages can include, but are not limited to, telescoping and/or folding designs.

A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

A method of operating a robotic system involves servoing a multitude of joints of the robotic system in a first joint velocity space. The movement of the multitude of joints in the first velocity space moves a remote center or an end effector of the robotic system. The method further involves floating the multitude of joints in a second velocity space. The movement of the multitude of joints in the second velocity space moves the end effector or the remote center, respectively. The method further involves controlling motion of the multitude of joints in a third velocity space. The movement of the multitude of joints in the third velocity space does not move the end effector and does not move the remote center.

A manipulator with two degrees of freedom and a surgical robot pivot a lower arm support under the driving of a second transmission structure so that a telescopic motion will be achieved with respect to a remote-center-of-motion (RCM); pivot a middle arm support under the driving of a first transmission structure and pivot an instrument assembly in the same way under the action of a first flexible member so that a pivoting motion will be achieved around the RCM. Therefore, the manipulator with two degrees of freedom is achieved.

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.

A curved scissor linkage mechanism (1) includes at least four linkage elements (2) each having a first end (3) and a second end (4). The linkage elements are arranged to form sides of one or more rhombi or parallelograms. Each linkage element is rotationally connected to another linkage elements via a revolute joint (5) at the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at the second end. The linkage elements are configured so that the axes of each joint coincide at one common remote centre of motion. The mechanism is connectable to a first external member (7) at a proximal end and is rotationally connectable to a second external member (9) at an opposite distal end to obtain three DOFs. The scissor linkage mechanism may further include a motion controlling mechanism.

A valve operating device includes first and second pivots, a first arm portion extending therebetween, a second arm portion extending from the second pivot, a valve operating machine on the second arm portion, and an actuator connected between the first pivot and the first arm portion. The first arm portion can rotate around a first vertical axis defined by the first pivot and can pivot around a horizontal axis defined by the first pivot. The second arm portion can rotate around a second vertical axis defined by the second pivot. The actuator causes the first and second arm portions, the second pivot, and the valve operating machine to pivot upward and downward relative to the first pivot around the horizontal axis.