An end-effector system is disclosed for use with a programmable motion device. The end-effector system includes an arm attachment portion for attachment to an arm of the programmable motion device, an end-effector attachment portion for attachment to an end-effector for grasping objects, a rotational shaft portion for rotational attachment to the arm attachment portion, said rotational shaft portion being coupled to the end-effector attachment portion at a distal end thereof, and a motor system providing rotation of the rotational shaft portion as well as the end-effector attachment portion with respect to the arm attachment portion.

An electronic device is disclosed, including: a spherical housing, and a first driving device disposed in the spherical housing and configured to cause a rolling motion of the spherical housing, the first driving device including: first and second wheels contacting an inner spherical surface of the spherical housing, the first and second wheels respectively disposed at opposite sides of an axis of rotation, at least one motor configured to transmit power to the at least one of the first wheel and the second wheel, a balance weight, a first surface that is spaced apart from the axis of rotation in a direction of gravity by balancing of the balance weight, and facing the inner spherical surface, and at least one rolling element disposed between the inner spherical surface and the first surface.

The present invention simplifies the processing of flanges that are to be integrated with a base part of a robot device and makes it possible to use a small number of adapter components to connect a plurality of corresponding decelerators to the processed flanges. A robot device that comprises a base part that houses decelerators that drive a first arm and a second arm that have a parallel link. The robot device comprises two first decelerators that are arranged on either side of the first arm so as to be parallel and drive the first arm, a second decelerator that is arranged so as to be parallel to the two first decelerators and drives the second arm, two first adaptor components that are respectively arranged between the base part and the two first decelerators and connect the base part and the first decelerators, and a second adapter component that is arranged between the base part and the second decelerator and connects the base part and the second decelerator.

Aspects of the disclosure include a torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising an interface member having on its exterior an engagement configuration configured to rotationally engage the first part, a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to fixedly engage the second part, and a deflection sensor attached to the deflectable body, wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.

Apparatus and methods are described for performing a procedure using a robotic unit. A sterile drape is placed around a drape plate, such that the sterile drape forms an interface between a non-sterile zone and a sterile zone, such that the tool mount is disposed within the sterile zone, and one or more robotic arms and a tool motor are disposed within the non-sterile zone. The tool is driven to roll with respect to the end effector via at least one gear mechanism disposed within the sterile zone, and a motion-transmission portion configured to transmit motion from the tool motor to the at least one gear mechanism, while maintaining a seal between the sterile zone and the non-sterile zone. Other applications are also described.

A drive device including at least one motor and at least one additional drive component from the group of a transmission, a torque converter, a clutch and/or a brake, wherein the at least one motor and/or the at least one additional drive component includes a control means which changes the torque transmission and which includes at least one illuminant and a material that influences the torque transmission and that includes at least one light-stabilized dynamic material (LSDM). The control means is configured to change the torque transmission by actuating the illuminant, which radiates onto the light-stabilized dynamic material (LSDM). A robot includes at least one such drive device.

Provided is an industrial robot in which a gear for causing a work tool to rotate can easily be retrofitted to a robot without requiring work to adjust backlash. The present invention comprises: a first wrist element that, at the distal end of a front arm of a robot, is capable of rotating about a first axis following the longitudinal direction of the front arm; a second wrist element that, at the first wrist element, is capable of rotating about a second axis intersecting the first axis in a roughly perpendicular manner; a third wrist element that, at the second wrist element, is capable of rotating about a third axis extending from the intersection point of the first and second axes in a direction roughly perpendicular to the direction in which the second axis extends; a first gear that is attached to the third wrist element coaxially with the third axis and that is capable of rotating about the third axis; a second gear that is driven by rotation of the first gear due to meshing with the first gear and that is capable of rotating; and a case secured to the second wrist element. The second gear is attached to the case via a bearing so as to be capable of rotating about a fourth axis positioned at a prescribed distance relative to the third axis.

A robot joint structure includes a first robot member, a second robot member, and a speed reducer incorporated in a joint portion that connects the first robot member and the second robot member to each other. The speed reducer includes an external gear, an internal gear that meshes with the external gear, and a fixing member that is provided so as to be non-rotatable relative to the internal gear and is fixed to the first robot member. The fixing member is fixed to the first robot member by bringing an inner peripheral surface of the first robot member and an outer peripheral surface of the fixing member into pressure contact with each other by fastening using a first fastening member. At least a part of an axial range of the first fastening member does not overlap internal teeth of the internal gear when viewed in a radial direction.

A braking assembly for a strain wave gearing of a surgical robotic manipulator, the braking assembly including a first braking member fixedly coupled to an input portion of a strain wave gearing of a surgical robotic manipulator; and a second braking member fixedly coupled to an output portion of the strain wave gearing, and wherein during a braking operation the first braking member contacts the second braking member to mechanically brake the input portion to the output portion.

There is a demand for further improving efficiency of a task of replacing the reduction gear of the robot. A jig configured to support a reduction gear connecting a first element and a second element of a robot to be enabled to perform a speed reduction operation on each other, when the second element is separated from the first element includes a fixed portion removably mounted to the first element or the second element, a movable portion rotationally or translationally movably mounted to the fixed portion, and a support mounted to the movable portion and configured to suspend and support the reduction gear in a gravity direction.