A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.

The present disclosure provides a robot limb structure and a robot. The limb structure includes: a main limb body, where the main limb body is provided with two joint-connection parts respectively at two ends; two joint components, where the two joint components are connected to the two joint-connection parts, respectively, and each joint component forms a connecting rod mechanism with a joint-connection part corresponding to each joint component; and two telescopic parts, which are provided corresponding to the two joint-connection parts, where one end of each telescopic part is hinged to a joint component of the two joint components, and the other end of each telescopic part is hinged to the main limb body, and a length of each telescopic part is adjustable so as to drive a connecting rod mechanism connected to each telescopic part to move.

A handling apparatus, for example for a system for processing containers, in particular pharmaceutical containers, features a carrier body configured as a hollow body, at least one drive device, at least one drive element arranged in the carrier body and operatively connected to the at least drive device, and a traveler device having at least one output element arranged on the outside of the carrier body. The drive element and the output element include or form a particular magnet arrangement. The traveler device is configured to be movable with at least one degree of freedom relative to the carrier body and at least one guide device for guiding the movement of the traveler device relative to the carrier body. The handling apparatus can be part of a system for processing containers.

Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.