An electrodynamic apparatus includes a first arm extending in a first direction, a second arm supported by the first arm, a linear actuator that moves the second arm along the first direction with respect to the first arm, a support extending in a second direction that is different from the first direction and supporting the first arm, and a rotating mechanism that rotates the support about an axis of rotation parallel to the second direction. The first arm includes a power transmission antenna. The second arm includes a power reception antenna. The power transmission antenna supplies electric power to the power reception antenna wirelessly. In rotating the support, the linear actuator moves the center of gravity of the second arm to the axis of rotation first, and then the rotating mechanism rotates the support.

Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.

A robot arm includes a second coupling rod fixedly coupled to a second intermediate base at an end of the second coupling rod located closer to the second intermediate base and coupled to a tip base via a second joint at an end of the second coupling rod located closer to the tip base so as to enable the second coupling rod to turn with respect to the tip base, and the first intermediate base and the second intermediate base are coupled together via an intermediate joint so as to be able to turn. The robot arm also includes a turning actuator that turns the second intermediate base with respect to the first intermediate base.

Disclosed are a transfer robot (300) and a cleaning system. The transfer robot (300) comprises a vehicle body (310), a transfer device (320), and an angle adjusting device (330). The cleaning system comprises a cleaning area (500), a cleaning robot (200) and the transfer robot (300). The transfer robot (300) serves as a carrying tool for the cleaning robot (200), and transfers the cleaning robot (200) to a channel area (103) among a plurality of solar panel arrays (101), such that the cleaning robot (200) can complete cleaning work on the different solar panel arrays (101).

A robot arm mechanism has a plurality of joints. Of the plural joints, a first joint is a rotational joint that rotates on a first axis, a second joint is a rotational joint that rotates on a second axis, and a third joint is a linear motion joint that moves along a third axis. The second axis is perpendicular to the first axis and is a first distance away from the first axis. The third axis is perpendicular to the second axis and is a second distance away from the second axis.

A robot arm mechanism has a plurality of joints. Of the plural joints, a first joint is a rotational joint that rotates on a first axis, a second joint is a rotational joint that rotates on a second axis, and a third joint is a linear motion joint that moves along a third axis. The second axis is perpendicular to the first axis and is a first distance away from the first axis. The third axis is perpendicular to the second axis and is a second distance away from the second axis.

An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses.

An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses.

The present invention provides a smart stick assembly comprising a rod comprising a plurality of telescopic sections, wherein the rod having a proximal end and an opposing distal end. An illumination portion, disposed at the distal end of the rod, configured to illuminate. A camera, disposed at the distal end of the rod, configured to capture an image, or a video, or both. A sensor coupled to the camera to stabilize the camera during motion. The camera is configured to transmit the captured image and video to a remote communication device through the wireless transceiver. Further, detachable end effector coupled to the distal end of the rod and configured to perform an action.

A substrate-transporting robot apparatus is disclosed. The robot apparatus may include an upper arm, a forearm independently rotatable relative to the upper arm, a wrist member independently rotatable relative to the forearm, and an end effector adapted to carry a substrate. In some aspects, the independent rotation is provided by a robot drive assembly having a second driving pulley mounted for rotation on a first driving pulley. In another aspect, robot drive assemblies including base-mounted and web-mounted pulleys are disclosed. Robot drive assemblies and operational methods are provided, as are numerous other aspects.