An end of arm tool subassembly includes three identical linear drive mechanisms connected directly together to provide three directions of movement. Each linear drive mechanism includes a base defined by a longitudinal axis and a slide movably coupled to the base. The base has at least one mounting surface disposed parallel to the longitudinal axis and an end mounting surface disposed perpendicular to the longitudinal axis. The slide traverses in a direction parallel to the longitudinal axis and has a slide mounting surface thereon. One of the identical linear drive mechanisms is directly attached to the end mounting surface of the base of another linear drive mechanism to provide two of the three directions of movement.

A system includes a robot arm with multiple joints and one or more end effector to carry a substrate. A processing device determines, within joint space of the robot arm, start/end points of the one or more end effector for a complete movement. The processing device builds, in joint space for the multiple joints and the one or more end effector, a graph of reachable positions and sub-paths between the reachable positions that satisfy Cartesian limits. The reachable positions are identified at a granularity that divides the complete movement into multiple sub-movements. The processing device executes a graph optimization algorithm on the graph to determine multiple paths, each a group of the sub-paths, that have one of shortest distances or lowest costs between the start/end points, and selects a path thereof that minimizes move time of the one or more end effector between the start/end points.

A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module so that the top of the course is level once laid.

Automated, environmentally monitored and controlled storage units and systems for storing, monitoring, and maintaining a supply of products, particularly temperature sensitive pharmaceutical and/or other high-value products, be they temperature sensitive or not. Such automated storage units contain an array of independently addressable holding locations for containers with product in one or more environmentally monitored (e.g., for temperature, humidity, etc.) and controlled zones fitted with appropriate environmental sensors. In preferred embodiments, the automated storage units also include a reader to track product information and status. Product loading, retrieval, and movement within such automated storage units is performed by a computer-controlled robot. A user interface device, preferably in communication with an application service provider to provide remotely managed inventory management and other services, provides users with inventory- and product-specific information.

An assembling apparatus that is provided with transfer mechanisms in three orthogonal directions and is capable of assembling plural parts with a high degree of accuracy using a holding device attached to one of the transfer mechanisms is provided. The assembling apparatus includes an x-axis transfer mechanism 101; a y-axis transfer mechanism 103; a z-axis transfer mechanism 105; a holding device 107 for holding a work piece, the holding device being attached to the z-axis transfer mechanism such that the holding device is movable in the z-axis direction; a base 1000 having a surface parallel to the x-axis and the y-axis; a first camera 201 attached to the z-axis transfer mechanism such that the optical axis is in the z-axis direction; and a second camera 203 attached to the base such that the optical axis is in the z-axis direction.

Automated lumber handling systems include one or more lumber-scanning sensors that travel independently of a board-carrying trolley to reduce board retrieval times and increase scanning accuracy and resolution. In some examples, the lumber handling systems retrieve various size boards from a series of spaced-apart stations, and deliver chosen boards in a certain sequence to a saw. The saw then cuts the boards to sizes suitable for making prefabricated roof trusses and/or wall frames.

A robotic storage assembly includes a safe that may a plurality of items. A drawer is slidably coupled to the safe. A control is coupled to the safe and the control may be manipulated. A storage unit is positioned within the safe to contain the plurality of items. The storage unit includes a plurality of trays. A spacing unit is positioned within the safe and the spacing unit engages the plurality of trays. The spacing unit selectively spaces the trays apart from each other. A retrieval unit is positioned within the safe. The retrieval unit is selectively positioned between the trays when the trays are spaced apart. Thus, the retrieval unit retrieves the items in the storage unit. The retrieval unit is selectively aligned with the drawer to deposit the items in the drawer. Thus, the items may be removed from the safe.

The present application teaches systems and methods for automating all or portions of a construction process including the steps of locating stud welding locations on the surface of an I-beam, I-beam grinding, ferrule placement, stud placement and welding to ground welding sites, and ferrule fracturing.

A non-intrusive automated test bench intended to perform mechanical and/or software and/or audio tests on one or more human-machine interfaces of an apparatus/device. Such a test bench makes it possible, in replacing an operator, to carry out mechanical and/or software and/or audio test sequences on one or more HMI of any apparatus/device, in its operational version, i.e., without needing to implement intrusive software and/or modifications and mechanical arrangements specifically dedicated to an apparatus/device, etc.

Provided is a remotely operated manipulator which can be applied to a space which is wider on a back side than at an opening part, which has a simple structure, high stiffness, and high reliability. The remotely operated manipulator of the present invention includes: a circular base fixed to a wall surface; a beam which rotates on the circular base; a trolley which moves on the beam; and a mast which is raised and lowered with respect to the trolley and is mounted with a tool unit at a tip. Stiffness is improved by directly fixing the beam to the wall surface by a beam fixing device. Further, a work region is expanded by mounting a bending mast on the tip of the mast.