A medical device is provided. The medical device includes an adaptor, a parallel manipulator, a shaft motor, a transmission shaft and a force transducer. The force transducer is disposed between the adaptor and an end platform of the parallel manipulator, and the force transducer has a through hole. The receiving shaft of the adaptor meets the transmission shaft in the through hole to receive the mechanical force from the transmission shaft to manipulate movement of the surgical tool.

A positioning unit includes two control carriages and a work carriage, it being possible to move the two control carriages and the work carriage on tracks that extend in parallel with one another. There is a working arm being articulated on a work base point on the work carriage and a control arm being articulated on a control base point on each of the control carriages. The control arms are articulated on the working arm at a control point of the working arm, the control point being spaced apart at a predefined lambda distance (d) from an end of the working arm that forms a working-point end and faces away from the work base point, and the two control base points and the work base point defining a triangle. At least two carriages of the two control carriages and the work carriage are movably arranged on a shared guide.

A manipulator system having a positioner having a primary rail, a first coupling linkage, and a second coupling linkage. The first coupling linkage couples the primary rail to a base and positions the primary rail along a first plane. The system has another positioner having a secondary rail, a third coupling linkage, and a fourth coupling linkage. The third coupling linkage couples the secondary rail to the base and positions the secondary rail along a second plane which is parallel to the first plane. A common link couples to the primary and secondary rails via linkages. Each of the second and fourth coupling linkages includes a joint for linear motion along the respective rail, and a revolute joint for relative pivoting between the respective rail and the common link. A position and orientation of the common link are adjustable by the joints and revolute joints.

A system for automatically handling components to be assembled onto a product on an assembly line includes a carriage that is movable to and between a first, retracted position spaced from the assembly line, and a second position displaced from the retracted position in a direction toward the assembly line. A manipulator on the carriage supports a component mounting tool configured to receive and support at least one component for assembly to the product. The manipulator may be arranged in a first orientation when the carriage is in the first position, and may be pivoted to a second orientation when the carriage is in the second position, such that a component on the component mounting tool is supported in a pose for processing when the carriage is in the first position, and is supported in a pose for joining to the product when the carriage is in the second position.

A semi-automatic precision positioning robot apparatus and method for use of the same to hold, position, orient and/or move a workpiece are provided. The positioning apparatus utilizes an actuator system of a given configuration to manipulate a workpiece holding unit with multiple degrees of freedom to achieve various positions and orientations. An associated took may further be provided to interact with the workpiece in various positions and orientations. The positioning apparatus enables an operator to obtain high degrees of maneuverability while maintaining precision and consistency in the manufacture and production of various products and components.

The present invention provides a four-chain six-degree-of-freedom hybrid mechanism. The four-chain six-degree-of-freedom hybrid mechanism comprises a fixed platform, a sliding rail mounted on the fixed platform, two sliding blocks, a mobile platform and four linear actuator chains connecting the mobile platform with a first sliding block and a second sliding block. The mobile platform is square-shaped. In the four linear actuator chains, the first linear actuator chain and the third linear actuator chain have the same structure while the second linear actuator chain and the fourth linear actuator chain have the same structure. The mobile platform can achieve six degrees of freedom. The four linear actuator chains coordinate to drive so as to achieve two translational degrees of freedom and two rotational degrees of freedom; the first sliding block and the second sliding block coordinate to drive so as to achieve the other translational and rotational degrees of freedom.

A carriage with two hexapod platforms, each having a base, a plate, and a set of six cylinders associated in pairs. Each cylinder is articulatedly mounted with the plate. For each pair, a slider is able to move in translation on the base. For a first pair, the two cylinders of the first pair are mounted in an articulated manner on the slider. The articulation of one of the two cylinders of the first pair with the plate is adjacent to the articulation of one of the two cylinders of a second pair with the plate. The articulation of the other of the two cylinders of the first pair with the plate is adjacent to the articulation of one of the two cylinders of a third pair with the plate. For each slider, a movement system moves the slider. A control unit controls each cylinder and the movement system.

Disclosed is a three-branched six-degree-of-freedom parallel mechanism with curved sliding pairs, which includes a base, a moving platform, and three identical kinetic branches. The kinetic branches are radially and evenly distributed and arranged between the base and the moving platform. Each kinetic branch includes a first curved link assembly, a first motor, and a support link. One end of the support link is hinged to the moving platform. One end of the first curved link assembly is hinged to the support link. The first motor is disposed on the base and is configured for driving the first curved link assembly to rotate, where an arc length of the first curved link assembly is changed as the first curved link assembly is driven to rotate.

Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.

Disclosed is a three-branched six-degree-of-freedom parallel mechanism with curved sliding pairs, which includes a base, a moving platform, and three identical kinetic branches. The kinetic branches are radially and evenly distributed and arranged between the base and the moving platform. Each kinetic branch includes a first curved link assembly, a first motor, and a support link. One end of the support link is hinged to the moving platform. One end of the first curved link assembly is hinged to the support link. The first motor is disposed on the base and is configured for driving the first curved link assembly to rotate, where an arc length of the first curved link assembly is changed as the first curved link assembly is driven to rotate.