Provided is a robot system that can accurately sense contact between an arm of a robot or an instrument attached to the arm and another object. The robot system includes: a robot main body 22 and a robot control unit 21, the robot main body 22 including: a motor 8; a deceleration device 19 connected to a motor shaft 17 of the motor 8; an arm 15 connected to an output shaft 16 of the deceleration device 19; a motor shaft-side angular sensor 1 capable of detecting an angle of rotation of the motor shaft 17 of the motor 8; and an output shaft-side angular sensor 2 capable of detecting an angle of rotation of the output shaft 16 of the deceleration device 19, and the robot control unit 21 being configured to detect a contact state between the arm 15 or an instrument attached to the arm 15 and another object, based on a motor shaft-side rotation angle detected by the motor shaft-side angular sensor 1, an output shaft-side rotation angle detected by the output-side angular sensor 2, and an angular sensor misalignment correction value for the motor shaft-side angular sensor 1 and the output shaft-side angular sensor 2.

An apparatus including a robot drive having motors and coaxial drive shafts connected to the motors; and a robot arm connected to the robot drive. The robot arm includes two upper arms, a first set of forearms connected to a first one of the upper arms, a second set of forearms connected to a second one of the upper arms and end effectors connected to respective ones of the forearms. The first and second upper arms are connected to respective first and second ones of the coaxial drive shafts. The first set of the forearms is mounted on the first upper arm and connected to a third one of the coaxial drive shafts by respective first and second drive belt assemblies. The second set of the forearms is mounted to the second upper arm and connected to a fourth one of the coaxial drive shafts by respective third and fourth drive belt assemblies.

A robot includes a robot main body including an A-arm which rotates around an A-rotation axis, a B-arm which is cantilevered off the A-arm and rotates around a B-rotation axis, and a C-arm which is connected to the B-arm, to which an end effector is attached, and which rotates around a C-rotation axis. The A-arm includes a first restriction that is not exposed to the outside of the robot main body. The B-arm includes a clamp which is connected to the end effector and restricts a position of a flexible wiring or pipe, a second restriction that is not exposed to the outside of the robot main body and contacts on the first restriction, and a hole through which the wiring or the pipe is inserted. The C-arm includes a through-hole which penetrates the C-arm along the axial direction of the C-rotation axis.

A robot includes a spin body, and a drive motor, a spin motor, and a PCB connected electrically to the spin motor and the drive motor mounted on the spin body. Accordingly, the spin motor, the driving motor, and the PCB are rotated together with the spin body, so that relative movement does not occur between the PCB and the respective motors, and tangling or twisting of the connection member electrically connecting the respective motors and the PCB does not occur.

A robotic arm assembly includes a robotic arm including a link, a control rope operable with the link, and an attachment section, the control rope extending at least partially through the attachment section. The robotic arm assembly also includes an actuator pack attached to, or positioned adjacent to, the attachment section of the robotic arm, the actuator pack including an actuator, the actuator operable with the control rope and including a motor defining a pivot axis, the motor configured to move about the pivot axis to displace the control rope.

A method is provided for constructing a robotic arm including a plurality of links and a rope assembly. The method includes providing the rope assembly having a rope with a plurality of rope bearings threaded thereon; and attaching the plurality of rope bearings of the rope assembly to the plurality of links of the robotic arm.

A robot includes: a first structure; a second structure provided rotatably relatively to the first structure; a drive source that is arranged at the first structure and drives the second structure to rotate relatively to the first structure; a speed reducer that has an input shaft coupled to the drive source, an output shaft coupled to the second structure, and a gear unit installed between the input shaft and the output shaft, and that decelerates rotation of the drive source and transmits the decelerated rotation to the second structure; and a load application unit that applies a load to the output shaft when a rotational speed of the input shaft is equal to or lower than a predetermined value.

A robotic vehicle (10) comprising a first chassis platform (200) comprising a first wheel assembly (202) and a second chassis platform (210) comprising a second wheel assembly (212). The first and second chassis platforms (200, 210) is arranged to be spaced apart from each other. The robotic vehicle (10) further comprises a linkage (220) operably coupled to the first chassis platform (200) and the second chassis platform (210). The linkage (220) being coupled so as to be fixed relative to the first chassis platform (200) and so that the second chassis platform (210) is rotatable relative to the first chassis platform (200), wherein the second chassis platform (210) comprises a turning axis (400). Said robotic vehicle (10) further comprising an electric brake (262) disposed proximate to a turning shaft (422) of the linkage (220). The electric brake (262) being selectively applied by processing circuitry (110) to resist turning of the second chassis platform (210) about the turning axis (400) and being selectively released to allow the second chassis platform (210) to turn about the turning axis (400).

An actuator, a robot arm and a robot are disclosed. The actuator includes: a housing; a motor, including a motor stator and a motor rotor, wherein the motor stator is disposed on the housing, the motor rotor is rotatably connected to the housing, and the motor rotor covers the motor stator; a position encoder, disposed on the motor rotor; a motor driver, disposed on the housing, and electrically connected to the motor; a reducer, disposed on the housing, and parallelly disposed with the motor; and a transmission mechanism, connected to the motor rotor and the reducer respectively; wherein the reducer is configured to adjust a rotation speed output from the motor rotor.

An actuator, a robot arm and a robot are disclosed. The actuator includes: a motor, including a housing, a motor stator and a motor rotor, wherein the motor stator is disposed to the housing, the motor rotor is rotatably connected to the housing, and the motor rotor covers the motor stator; a position encoder, disposed to the motor rotor; a reducer, connected to the motor rotor, and configured to adjust a rotation speed output from the motor rotor; and a motor driver, disposed on the housing, and electrically connected to the motor.