An apparatus includes a spindle platform; a traversing platform configured to move in a first direction; a lift system connected to the spindle platform and the traversing platform, the lift system configured to move the spindle platform in a second direction perpendicular to the first direction; a movable arm connected to the spindle platform, the movable arm including a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link, and a first actuator connected to the spindle platform and configured to cause a rotation of the first link, and a second actuator in the movable arm and configured to cause a rotation of the second link. The first actuator extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link.

A controller includes a generation unit that generates three-dimensional information, a deletion unit that deletes information about at least part of the measurement points in the three-dimensional information, and a determination unit that determines a state where the robot grips a workpiece. The generation unit generates first three-dimensional information before the robot implements an operation of gripping a target workpiece. The generation unit generates second three-dimensional information after the robot has implemented an operation of lifting the target workpiece. The deletion unit generates third three-dimensional information in which information about measurement points in the second three-dimensional information is deleted from the first three-dimensional information. The determination unit determines whether or not the workpiece in the third three-dimensional information matches the target workpiece.

In a method for correcting a target position, a three-dimensional matrix is formed by piling up, in a Z-direction at predetermined intervals, matrix planes each formed by continuously connecting, in X- and Y-directions, quadrangular areas that are parallel to an XY-plane and each have a reference point, and a target position of a work robot designated in an operation space of the three-dimensional matrix is corrected. In this method, a first block and a second block are set which are individually contiguous with the specific block, and the target position is corrected based on respective reference points in the upper area and the lower area of the specific block, the first block, and the second block and the measured deviation amount of the work robot from the reference points.

A gripping tool includes at least one linear guide coupled to a mount and extending along a central axis oriented along a first direction. At least one carriage coupled to the linear guide is translatable relative to the mount along the first direction. A first plurality of arms are rotatably coupled to the mount. A second plurality of arms are rotatably coupled to the carriage. The tool includes bodies carrying suction cups. Each body: defines an axis, is rotatably connected to at least one of each of the first and second pluralities of arms, and combines with the respective at least one of the first plurality of arms, the at least one of the second plurality of arms, and the at least one carriage to define a linkage allowing the body to move relative to the mount along the first and a perpendicular radial direction while the central and body axes remain parallel.

The application relates to a smart cabinet. The smart cabinet includes a cabinet body, a moving module, a controlling module and an assisting module. The moving module is positioned in the cabinet body; the controlling module is connected to the moving module. The moving module includes a base, a guiding wheel group disposed on the base, a plurality of drivers pivotally connected with the guiding wheel group, and a manipulator disposed on the base. The controlling module includes an input control unit, a guiding rope, and a pulley group. The input control module is electrically connected with the drivers and the manipulator. The pulley group includes a plurality of pulleys defining a movement range for the moving module. The assisting module includes a rope retractor and a sensor electrically coupled to the rope retractor. Two ends of the guiding rope are coupled to the rope retractor.

An end-effector assembly includes a master boom, a frame rail coupled thereto, and at least one branch rail movably coupled to the frame rail by a swing branch lock. The swing arm is movably coupled to the at least one branch rail by a swing arm lock. Each of the swing branch lock and the swing arm lock further includes a clamp configured to movably secure the branch rail to the frame rail or the swing arm to the branch rail. A pivot shaft extends through the clamp and is configured to rotationally secure the clamp in place. A swing plate is secured to the pivot shaft and is configured for engagement with a configuration tool. A locking fastener extends through the swing plate and into the pivot shaft and is configured to lock and unlock the clamp in position.

An automated assembly station includes a mobile platform for holding a first workpiece, a robot having a moveable arm, and a controller. The moveable arm includes a load cell and a gripper that is adapted to grasp a second workpiece. The robot is operable to use the moveable arm and gripper to insert the second workpiece into a locked position on a mating part of the first workpiece. The load cell is operable to measure an amount of insertion force used to insert the second workpiece into the locked position. The controller is configured to record the insertion force and trigger an alarm in response to the insertion force exceeding a predesignated threshold insertion force.

A control device of a transfer device has: a mark relative position calculation unit which calculates a relative position of the three compensation marks relative to the cart, based on a captured image of the camera; a posture calculation unit which calculates a posture of the robot arm which arranges the article at the delivery position, based on a relative position of the three compensation marks calculated by the mark relative position calculation unit, and a teaching positional relationship which is taught in advance as a positional relationship between the three compensation marks and the delivery position; a reference positional relationship determination unit which determines whether a mutual positional relationship between the three compensation marks matches with a reference positional relationship set in advance, based on the relative positions of the three compensation marks calculated by the mark relative position calculation unit; and a displacement notification unit which notifies to outside of a possibility of displacement of the three compensation marks, in a case of the reference positional relationship determination unit determining that the mutual positional relationship of the three compensation marks does not match with the reference positional relationship.

Various embodiments provide a variable stiffness soft actuator inspired by an ossicle structure of echinoderm and a robot apparatus including the same. According to various embodiments, the soft actuate includes a plurality of ossicle elements arranged in a specific structure, wherein an interval between the plurality of ossicle elements is maintained or reduced depending on vacuum generation to change the stiffness of the soft actuator.

To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.