A drive structure of a desktop robotic arm is disclosed, including a base and a turntable. The base is internally provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected to the turntable drive shaft, and the turntable drive shaft is drive-connected to the turntable. The turntable is provided with an upper arm drive motor and a forearm drive motor. The turntable drive motor, the upper arm drive motor and the forearm drive motor are all servo motors with absolute value encoders. According to the drive structure of the desktop robotic arm, by using servo motors as the drive motors for controlling the turntable, an upper arm and a forearm, for which the absolute value encoders are correspondingly configured, control accuracy and driving power can be improved. Further, the present invention also discloses a desktop robotic arm and a robot.

A support arm system (10) has at least one lockable articulated connection (16). A locking device (20) is associated with the articulated connection (16). The locking device (20) includes a passive drive (32) as well as an actuating device (36) associated with the locking device (20) with an active drive (38). The active drive (38) acts in the same plane as the passive drive (32).

An abnormality diagnosis method that diagnoses abnormality of a braking unit included in a prescribed apparatus that includes: the braking unit including a pressing member, an urging member that urges the pressing member toward an actuator, and an attraction device that releases an urging state of the pressing member that is pressed by the urging member; and a controller configured to control braking by the braking unit and that changes operation programs each including a plurality of operation steps, based on an attraction time period when the pressing member is separated from the actuator to release braking. The abnormality diagnosis method includes: a step of the prescribed apparatus calculating the attraction time period when the prescribed apparatus executes prescribed operation steps associated with corresponding operation programs; and a step of diagnosing abnormality of the braking unit based on the calculated attraction time period.

A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.

An operation controller configured to give a fine operation command to a master shaft in a state in which servomotors are excited and respective excitation brakes of the master shaft and the slave shaft are released, and an abnormality detector configured to perform detection of an abnormality of the excitation brake of the slave shaft by detecting an operation amount of the slave shaft that is obtained when the slave shaft is finely operated in accordance with the fine operation command to the master shaft in a controlled manner, and comparing the operation amount with a reference value are included.

The present invention relates to a joint mechanism (100), a method for controlling the joint mechanism (100), a multi-arm device (200) including the joint mechanism (100), and a robot. The joint mechanism (100) comprises: a base (4) having a pivot shaft (41); a swinging arm (1) having a first end (11) mounted on the pivot shall (41); a first driving member (2) and a second driving member (3) mounted on the pivot shall (41) for interacting with the swinging arm (1) through magnetorheological fluid; and a first electromagnetic component (22) and a second electromagnetic component (32), configured to change phase state of the magnetorheological fluid. The first driving member (2) and the second driving member (3) can selectively drive tire swinging arm (1) to rotate along a first direction or a second direction.

A robot control device includes a camera configured to be attached to a display device carried by or put on an operator and capture an environment surrounding the operator to generate an image of the environment; and a processor configured to slow down or stop motion of a predetermined robot included in the environment when the predetermined robot is not displayed on the display device, when only a portion of the predetermined robot is displayed, or when a ratio of a region representing the predetermined robot to a display area of the display device is equal to or lower than a predetermined threshold.

A refuse vehicle includes a chassis, tractive elements, a lift apparatus, and a reach assembly. The tractive elements couple with the chassis and support the refuse vehicle. The lift apparatus includes a track and a grabber assembly. The track includes a straight portion and a curved portion. The grabber assembly releasably grasps a refuse container and ascends or descends the track to lift and empty refuse into a body of the refuse vehicle. The reach assembly includes an outer member, a first extendable member, and a second extendable member. The first extendable member is received within an inner volume of the outer member and translates relative to the outer member. The second extendable member is received within an inner volume of the first extendable member and translates relative to the first extendable member. The lift apparatus is fixedly coupled at an outer end of the second extendable member.

A mechanical adjustable device is provided, which is characterized in that it is adapted to enable changing its spatial shape from a first spatial shape to a second spatial shape, and retaining the mechanical adjustable device in its second shape. Preferably, the mechanical adjustable device comprises: a) a spring; b) a plurality of longitudinally extended ribs/wires characterized in that they are capable of being bent, wherein said plurality of longitudinally extended ribs/wires are circumferentially disposed along an enclosure confined by the spring, adjacent to the inner side of the spring; and c) a flexible sleeve/tube disposed longitudinally along the enclosure confined by the spring.

Provide is a robot and a control method thereof in which the motion of an arm 12 as a specified limb among a plurality of limbs 12 and 14 extended from a body 10 is controlled according to a specified trajectory. If a first interaction state, in which a hand 126, which is an end effector, interacts with a horizontal wood member L (j) of a ladder L in a first mode is implemented, then a control command is given to an actuator 41 that drives the hand 126 to cause the hand 126 to perform a grasping motion, thereby implementing a second interaction state, in which the hand 126 interacts with the horizontal wood member L (j) in a second manner. If the second interaction state is implemented, a control command is given to a brake 42 to maintain a motion halt state of the hand 126.