Provided is a linear-object handling structure of a robot, in which a linear object for a motor that drives a second arm and a wrist and a linear object for a work tool that is attached to the wrist pass from a base part to the inside of a rotational drum in the vicinity of a first axis, are guided upward to the outside through a through-hole provided in the rotational drum, are respectively curved toward opposite lateral sides of the rotational drum in the substantially circumferential directions while each given a margin of length required for the motion of the rotational drum, are guided from the lateral sides of the rotational drum to the second arm in the longitudinal direction of the first arm while each being given a margin of length required for the motions of the first arm and the second arm.

A robot includes a first arm rotatable around a first axis, a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable, a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable, a distal-end swingable portion rotatably connected to the third arm, a distal end rotatably connected to the distal-end swingable portion, a fourth actuator configured to rotate the distal-end swingable portion and including a first motor having a first motor rotation axis, and a fifth actuator configured to rotate the distal end and including a second motor having a second motor rotation axis that is parallel to the first motor rotation axis.

According to an embodiment, a manipulator includes the following elements. The first joint has a rotation axis in a first direction crossing a gravity direction. The second joint has a rotation axis in a second direction crossing the first direction. The first arm and the second arm are coupled with the second joint along a third direction crossing the second direction. The variable center-of-gravity unit coupled with the first arm. The controller controls the variable center-of-gravity unit to perform an operation for moving the first weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the first joint and/or an operation for moving the second weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the second joint.

A robot includes a first arm, a second arm, a third arm, a distal end, a first actuator, a second actuator, a third actuator, and a plurality of posture adjustment actuators. The first arm, the second arm, the third arm, and the distal end are coupled in series to each other. The first actuator is configured to swing the first arm about a first axis line. The second actuator is disposed on a side on which the first actuator is disposed in a direction along the first axis line. The second actuator is configured to swing the second arm about a second axis line parallel to the first axis line. The third actuator is configured to swing the third arm about a third axis line parallel to the first axis line. The plurality of posture adjustment actuators are configured to adjust a posture of the distal end.

An industrial robot includes a robot arm with multiple elements connected via joints, one element of which is designed as a linkage and another designed as an arm extension. The arm extension is mounted on one side of the linkage in a pivotal manner about a rotational axis by one of the joints and supports at least two other elements which form hand elements of the robot arm. An arm extension drive on the arm extension pivots the arm extension relative to the linkage, and a first hand element drive on the arm extension moves one of the hand elements relative to the arm extension. A motor shaft of the arm extension drive on the arm extension is offset from and runs parallel to the rotational axis, and a motor shaft of the first hand element drive on the arm extension is perpendicular to and spaced from the rotational axis.

A robot arm according to the present invention includes: a shoulder joint assembly which is connected to an upper arm portion, and includes a drive unit for generating driving power; an elbow joint assembly which is provided between the upper arm portion and a forearm portion, and operates by being supplied with driving power from the drive unit; and a wrist joint assembly which is provided between the forearm portion and a hand portion, and operates by being supplied with driving power from the drive unit.

The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations and at least three degrees of freedom. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.

The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations and at least three degrees of freedom. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.

According to an embodiment, a manipulator includes the following elements. The first joint has a rotation axis in a first direction crossing a gravity direction. The second joint has a rotation axis in a second direction crossing the first direction. The first arm and the second arm are coupled with the second joint along a third direction crossing the second direction. The variable center-of-gravity unit coupled with the first arm. The controller controls the variable center-of-gravity unit to perform an operation for moving the first weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the first joint and/or an operation for moving the second weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the second joint.

The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations and at least three degrees of freedom. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.