A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with a cable robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the cable robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A coordination processor runs control software that communicates with both the laser tracker and the cable robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the cable robot, and the actions to be taken.

An industrial robot having parallel kinematics, comprising a robot base, a carrier element for accommodating a gripper or a tool, several movable, elongated actuating units, which are connected at one end thereof to drive units arranged on the robot base, and the other end of which is movably connected to the carrier element; an elongated hollow body, which has a continuous cavity and which is flexibly connected to the robot base; a joint, which has a continuous cavity and several degrees of freedom, by means of which joint the elongated hollow body is movably connected to the carrier element; and at least one supply line for a gripper arranged on the carrier element or a tool arranged on the carrier element, the supply line being guided through the cavity of the elongated hollow body and the cavity of the hollow joint from the robot base to the carrier element.

This invention relates to motion generators comprising: an end effector, a stationary support, a first set of elastic elements interconnecting the end effector and the stationary support; a set of tensile members; in which the end effector is supported within the stationary support by the elastic elements; and a set of actuators in which the motion generator further comprises at least six rockers each rocker being pivotally mounted at one end thereof on the stationary support, and each rocker having a free end; the set of tensile members comprising: at least six elongate tensile members, each elongate tensile member having one end connected to a rocker and the other end connected to one of a second set of elastic elements which are fixed; a set of connecting elements connecting each rocker to the end effector and in which each one of the set of tensile members is independently adjustably tensioned by an associated actuator to move the free end of the rocker, which rocker movement causes movement of a connected connecting element leading to movement of the end effector.

A light-based measurement system is capable of directing a light beam to a cooperative target used in conjunction with a cable robot to accurately control the position of the end effector within a large volume working environment defined by a single coordinate system. By measuring the end effector while the device is in operation, the cable robot control system can be adjusted in real time to correct for errors that are introduced through the design of the robot itself providing accuracy in the tens or hundreds of micron range. A coordination processor runs control software that communicates with both the laser tracker and the cable robot. An action plan file is loaded by the software that defines the coordinate system of the working volume, the locations where actions need to be performed by the cable robot, and the actions to be taken.

A transportation system capable of preventing or minimizing limitation of a transportable range in a three-dimensional space is provided. A transportation system for transporting a transportation object in a three-dimensional space includes a container configured to be suspended by a vertical wire, a container support unit configured to support the container with the vertical wire interposed therebetween, at least three support columns, a vertical actuator configured to wind and unwind the vertical wire, a horizontal actuator configured to wind and unwind a horizontal wire stretched between the support column and the container support unit, and a control apparatus configured to control the vertical actuator to thereby control a vertical movement of the container, and control the horizontal actuator to thereby control a horizontal movement of the container.

An apparatus for controlling an end-effector assembly having a first working member and a second working member is provided. The apparatus includes a first set of at least one cable, a second set of at least one cable, a first pulley configured to guide the first set of at least one cable, a second pulley configured to guide the first set of at least one cable when the second pulley is in a first position, a third pulley configured to guide the second set of at least one cable, and a rotatable element rotatable about a first axis.

An automated mobile paint robot, according to particular embodiments, comprises: (1) a wheeled base; (2) at least one paint sprayer; (3) at least one pump; (4) a vision system; (5) a GPS navigation system; and (5) a computer controller configured to: (A) generate a room painting plan using one or more inputs from the GPS navigation system, vision system, etc.; (B) control movement of the automated mobile paint robot across a support surface: (C) use the vision system to position the wheeled base in a suitable position from which to paint a desired area using the at least one paint sprayer; and (D) use the at least one pump to activate the at least one paint sprayer to paint a swath (e.g., swatch) of paint from the suitable position.

The task of the invention is to create a 3D printer to produce, for example, bone substitutes or organ substitutes or other objects such as prostheses from organically compatible materials

Cable robot 3D printer (1), comprising a cable robot (1) with eight cables (2) or straps (2), wherein the cables (2) or straps (2) are detachably attached at a first end (3) to a print head (4) and are guided from the print head (4) to a respective cable drum (5), and the other second end (6) of the cables (2) or straps (2), which is opposite the print head (4) in each case, can be wound in the cable drum (5) in a planar, crossing-free manner wherein the cable drums (5) are arranged within a working space (7) and wherein the cable drums (5) are drivable and the drives (8) of the cable drums (5) are arranged outside or inside the working space (7), and in that at least one material feed (9) and at least one nozzle (10) are provided on the print head (4).

Method for detecting the position and for changing the position of the print head (4) of a cable robot 3D printer (1), comprising a cable robot (1) with eight cables (2) or belts (2) which are guided from a print head (4) to a respective cable drum (5),

characterized in that

the cables (2) or straps (2) are wound in the cable drum (5) in a planar crossing-free manner and, for a control circuit for detecting the desired position, the respective cable lengths, which are detected via encoders on the drives (8), are determined as measured variables and the cable forces are determined as manipulated variables of the control circuit.

The present disclosure relates to a rope traction type grinding, cleaning, and coating integrated operation robot. The operation robot includes a hanging basket, a first traction mechanism connected to the hanging basket, a grinding mechanism arranged in front of the hanging basket, and a cleaning and spraying mechanism and a spring reaction force regulation mechanism arranged in the hanging basket. The first traction mechanism includes first ropes for connecting the hanging basket and first rope winding mechanisms. The cleaning and spraying mechanism includes a first vertical plate and a second vertical plate that are arranged in parallel in a vertical direction. A cleaning nozzle and a spraying nozzle are mounted on the first vertical plate. From the above technical solution, it can be seen that the operation robot adopts a rope traction manner, and has the advantages of large work space, low mechanism inertia, and accurate and reliable location.

A flexible driver, a robot joint, a robot and an exoskeleton robot, the transmission mechanism including an active rotating member, a driven rotating member and a rope, which form a rope drive relationship; wherein, the rope is tightly wound around rotating surfaces of the active rotating member and the driven rotating member, and a rotational central axis of the active rotating member is perpendicular to a rotational central axis of the driven rotating member. An output end of the driving mechanism is connected to the active rotating member, to drive rotation of the active rotating member. The output mechanism includes a flexible driving part, and an output part which is used for connecting to an external actuator. The driven rotating member drives rotation of the output part through the flexible driving part. The flexible driver drives flexibly the actuator through a compact structure as well as reliable and high-efficient transmission.